Neck mechanism and robot

Abstract

The utility model discloses a neck mechanism and a robot. The neck mechanism comprises a first structure assembly and a second structure assembly, the second structure assembly comprises a second rotating disc; the head connecting structure comprises a first transmission disc and a second transmission disc which are fixedly connected and further comprises a connecting part, and in the first direction, the first structural assembly and the second structural assembly are arranged on the opposite sides of the end, provided with the connecting part, of the head connecting structure. The first rotating disc is in transmission connection with the first transmission disc, and the second rotating disc is in transmission connection with the second transmission disc so as to drive the head connecting structure to rotate around at least one of the first rotation axis and the second rotation axis. The first transmission disc and the second transmission disc are located on the two sides of the first rotation axis in the second direction parallel to the second rotation axis. Therefore, the head connecting structure can obtain degrees of freedom in two directions, and the two degrees of freedom are connected in parallel, so that the flexibility and reliability of the neck mechanism are improved, and movement of the head mechanism in different directions is facilitated.

Description

Technical Field

[0001] At least one embodiment of the present utility model relates to a neck mechanism and a robot. Background Art

[0002] The robot's neck is primarily responsible for enabling head rotation, pitch, and other movements, thereby expanding the robot's field of view and operating space. To adapt to the robot's diverse work scenarios and task requirements, the flexibility and reliability of the robot's neck mechanism needs to be improved. Utility Model Content

[0003] At least one embodiment of the present utility model provides a neck mechanism and a robot.

[0004] At least one embodiment of the present utility model provides a neck mechanism, comprising: a first structural component, comprising a first rotating disk; a second structural component, comprising a second rotating disk; a head connecting structure, comprising a first transmission disk and a second transmission disk fixedly connected, and one end of the head connecting structure comprises a connecting portion for connecting to the head mechanism, and in a first direction, the first structural component and the second structural component are arranged on opposite sides of the end of the head connecting structure where the connecting portion is provided; wherein, the first rotating disk is transmission-connected to the first transmission disk, and the second rotating disk is transmission-connected to the second transmission disk, so as to drive the head connecting structure to rotate around at least one of the first rotation axis and the second rotation axis; the first rotation axis is parallel to the first direction; the first transmission disk and the second transmission disk are respectively located on both sides of the first rotation axis along a second direction parallel to the second rotation axis, and the first direction intersects with the second direction.

[0005] For example, according to at least one embodiment of the present invention, the first rotating disk is configured to rotate around its first center axis, and the second rotating disk is configured to rotate around its second center axis; the first center axis, the second center axis and any two of the first rotation axis are parallel to or coincide with each other; when the rotation direction of the first rotating disk is the same as the rotation direction of the second rotating disk, the head connection structure is configured to rotate at least around the first rotation axis; when the rotation direction of the first rotating disk is opposite to the rotation direction of the second rotating disk, the head connection structure is configured to rotate at least around the second rotation axis.

[0006] For example, according to at least one embodiment of the present invention, the first transmission disc and the second transmission disc are independently driven by the first rotating disc and the second rotating disc, respectively, in a one-to-one correspondence.

[0007] For example, according to at least one embodiment of the present invention, it also includes a first drive rope and a second drive rope; a part of the first drive rope is wound around the first rotating disk, and the other part is wound around the first transmission disk, a part of the second drive rope is wound around the second rotating disk, and the other part is wound around the second transmission disk, so that the head connection structure rotates forward or reversely under the drive of the first drive rope and the second drive rope.

[0008] For example, according to at least one embodiment of the present invention, the first rotating disk includes a first positioning surface, and the first transmission disk includes a first mating surface; the first positioning surface contacts the first mating surface to form a first common tangent; the second rotating disk includes a second positioning surface, and the second transmission disk includes a second mating surface; the second positioning surface contacts the second mating surface to form a second common tangent; at least one of the extension direction of the first common tangent and the extension direction of the second common tangent intersects with the first direction and is not perpendicular to each other; on a plane perpendicular to the first rotation axis, the straight line where the orthographic projection of the first common tangent is located intersects or coincides with the straight line where the orthographic projection of the second common tangent is located.

[0009] For example, according to at least one embodiment of the present invention, at least one of the first rotating disk and the second rotating disk includes a first support surface, and the first support surface is configured to support the first drive rope and the second drive rope in the first direction; at least one of the first transmission disk and the second transmission disk includes a second support surface, and the second support surface is configured to support the first drive rope and the second drive rope in the second direction.

[0010] For example, according to at least one embodiment of the present invention, the first structural component includes a first drive motor and a first reduction mechanism, and the second structural component includes a second drive motor and a second reduction mechanism; the first reduction mechanism is transmission-connected between the first drive motor and the first rotating disk, and the second reduction mechanism is transmission-connected between the second drive motor and the second rotating disk; wherein, the first drive motor is configured to drive the first rotating disk to rotate around the first center axis through the first reduction mechanism, and the second drive motor is configured to drive the second rotating disk to rotate around the second center axis through the second reduction mechanism.

[0011] For example, according to at least one embodiment of the present invention, the first reduction mechanism includes a first driving wheel, a first driven wheel and a first synchronous belt, and the first synchronous belt is transmission-connected between the first driving wheel and the first driven wheel; the first driving wheel is connected to the output shaft of the first drive motor, and the first driven wheel is connected to the first rotating disk; the second reduction mechanism includes a second driving wheel, a second driven wheel and a second synchronous belt, and the second synchronous belt is transmission-connected between the second driving wheel and the second driven wheel; the second driving wheel is connected to the output shaft of the second drive motor, and the second driven wheel is connected to the second rotating disk.

[0012] For example, according to at least one embodiment of the present invention, at least two of the first driven wheel, the first rotating disk, the second driven wheel, and the second rotating disk are coaxially arranged.

[0013] For example, according to at least one embodiment of the present invention, the diameter of the first driving wheel is smaller than the diameter of the first driven wheel, and the diameter of the second driving wheel is smaller than the diameter of the second driven wheel.

[0014] For example, according to at least one embodiment of the present invention, on a plane perpendicular to the second rotation axis, the orthographic projection of the first synchronous belt and the orthographic projection of the second synchronous belt do not overlap.

[0015] For example, according to at least one embodiment of the present invention, a dimension of at least one of the first synchronous belt and the second synchronous belt in the first direction is 3 mm to 5 mm.

[0016] For example, according to at least one embodiment of the present invention, the ratio of the reduction ratio of the first drive motor to the reduction ratio of the first reduction mechanism is 2-4; the ratio of the reduction ratio of the second drive motor to the reduction ratio of the second reduction mechanism is 2-4.

[0017] For example, according to at least one embodiment of the present invention, the reduction ratio of the first drive motor is 5-20, and the reduction ratio of the first reduction mechanism is 1-5; the reduction ratio of the second drive motor is 5-20, and the reduction ratio of the second reduction mechanism is 1-5.

[0018] For example, according to at least one embodiment of the present invention, the minimum distance between the axis of the output shaft of the first drive motor and the first rotation axis is a first distance, and the minimum distance between the axis of the output shaft of the second drive motor and the first rotation axis is a second distance; the first distance is equal to the second distance.

[0019] For example, according to at least one embodiment of the present invention, on a plane perpendicular to the first rotation axis, the line connecting the orthographic projection of the axis of the output shaft of the first drive motor, the orthographic projection of the axis of the output shaft of the second drive motor and the orthographic projection of the first rotation axis is a straight line.

[0020] At least one embodiment of the present invention provides a robot, comprising the neck mechanism described in any one of the above embodiments; and a head mechanism, wherein the head mechanism is connected to the connecting portion of the head connecting structure of the neck mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings in the following description only relate to some embodiments of the present invention, rather than limiting the present invention.

[0022] Figure 1 This is a schematic diagram of a neck mechanism provided in an example of at least one embodiment of the present invention.

[0023] Figure 2 This is a partial schematic diagram of a robot provided as an example in at least one embodiment of the present utility model.

[0024] Figure 3 This is an exploded schematic diagram of a partial structure of a neck mechanism provided in an example of at least one embodiment of the present invention.

[0025] Figure 4 This is a cross-sectional schematic diagram of a neck mechanism provided in an example of at least one embodiment of the present invention.

[0026] Figure 5 A schematic diagram of an orthographic projection of a first common tangent line on a plane perpendicular to the first rotation axis and an orthographic projection of a second common tangent line on a plane perpendicular to the first rotation axis provided in an example of at least one embodiment of the present invention.

[0027] Figure 6 A schematic diagram of an orthographic projection of a first synchronous belt on a plane perpendicular to the second rotation axis and an orthographic projection of a second synchronous belt on a plane perpendicular to the second rotation axis provided in an example of at least one embodiment of the present invention.

[0028] Figure 7 A schematic diagram of an orthographic projection of the axis of the output shaft of the first drive motor on a plane perpendicular to the first rotation axis, an orthographic projection of the axis of the output shaft of the second drive motor on a plane perpendicular to the first rotation axis, and an orthographic projection of the first rotation axis on a plane perpendicular to the first rotation axis, provided as an example in at least one embodiment of the present invention. DETAILED DESCRIPTION

[0029] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the described embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Unless otherwise defined, technical or scientific terms used in this utility model should have the ordinary meaning understood by people with ordinary skills in the field to which this utility model belongs. The words "first", "second" and similar terms used in this utility model do not indicate any order, quantity or importance, but are simply used to distinguish different components. The words "include" or "comprising" and similar words mean that the elements or objects listed before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0031] The features such as "perpendicular", "parallel" and "same" used in the present invention include the features such as "perpendicular", "parallel" and "same" in the strict sense, as well as the cases where "approximately perpendicular", "approximately parallel" and "approximately the same" contain certain errors, taking into account the errors associated with the measurement of specific quantities (that is, the limitations of the measurement system), and are expressed as being within the acceptable deviation range for a specific value determined by a person of ordinary skill in the art. The "center" in the embodiments of the present invention can include a position strictly located at the geometric center and a position approximately centered within a small area around the geometric center. For example, "approximately" can mean within one or more standard deviations, or within 10% or 5% of the value.

[0032] The robot's neck is responsible for adjusting the position and orientation of the robot's head, enabling movements such as rotation, pitch, and roll. Numerous factors must be considered when designing a robot's neck, including range of motion, load-bearing capacity, and the spatial layout of various components. To achieve high-precision control of the robot's head while meeting these requirements, the neck's flexibility and reliability need to be improved.

[0033] At least one embodiment of the present utility model provides a neck mechanism, comprising: a first structural component, comprising a first rotating disk; a second structural component, comprising a second rotating disk; a head connecting structure, comprising a first transmission disk and a second transmission disk fixedly connected, and one end of the head connecting structure comprises a connecting portion for connecting to the head mechanism, and in a first direction, the first structural component and the second structural component are arranged on opposite sides of the end of the head connecting structure where the connecting portion is provided; wherein, the first rotating disk is transmission-connected to the first transmission disk, and the second rotating disk is transmission-connected to the second transmission disk, so as to drive the head connecting structure to rotate around at least one of the first rotation axis and the second rotation axis; the first rotation axis is parallel to the first direction; the first transmission disk and the second transmission disk are respectively located on both sides of the first rotation axis along a second direction parallel to the second rotation axis, and the first direction intersects with the second direction.

[0034] At least one embodiment of the present invention provides a robot, comprising the neck mechanism described above; and a head mechanism, wherein the head mechanism is connected to the connecting portion of the head connecting structure of the neck mechanism.

[0035] In at least one embodiment of the present invention, the neck mechanism and robot provided by the present invention have a first rotating disk driving the movement of a first transmission disk, and a second rotating disk driving the movement of a second transmission disk. The first and second transmission disks, located on either side of the second rotational axis, act together to rotate the head connection structure about at least one of the first and second rotational axes. This allows the head connection structure to obtain two degrees of freedom in two directions, and these two degrees of freedom are connected in parallel, improving the flexibility and reliability of the neck mechanism and facilitating movement of the head mechanism in different directions.

[0036] The neck mechanism and the robot are described below with reference to the accompanying drawings and through some embodiments.

[0037] Figure 1 This is a schematic diagram of a neck mechanism provided in an example of at least one embodiment of the present invention. Figure 2 This is a partial schematic diagram of a robot provided as an example in at least one embodiment of the present utility model.

[0038] refer to Figure 1 and Figure 2, the neck mechanism includes a first structural component 100, a second structural component 200 and a head connection structure 300. The first structural component 100 includes a first rotating disk 110, and the second structural component 200 includes a second rotating disk 210. The head connection structure 300 includes a first transmission disk 310 and a second transmission disk 320 that are fixedly connected, and one end of the head connection structure 300 includes a connection portion 330 for connecting to the head mechanism 01. In the first direction Z, the first structural component 100 and the second structural component 200 are arranged on opposite sides of the end of the head connection structure 300 where the connection portion 330 is provided. For example, the head mechanism 01 (see Figure 2 ) is connected to one end of the head connection structure 300 in the first direction Z, that is, the opposite side of the first structural component 100 and the second structural component 200 of the head connection structure 300.

[0039] refer to Figure 1 and Figure 2 , the first rotating disk 110 is in transmission connection with the first transmission disk 310, and the second rotating disk 210 is in transmission connection with the second transmission disk 320, so as to drive the head connection structure 300 to rotate around at least one of the first rotation axis R1 and the second rotation axis R2. The first rotation axis R1 is parallel to the first direction Z. For example, the first rotating disk 110 is movably connected to the first transmission disk 310, and the second rotating disk 210 is movably connected to the second transmission disk 320. For example, under the joint action of the first transmission disk 310 and the second transmission disk 320, the head connection structure 300 can rotate around the first rotation axis R1 to achieve rotational movements such as shaking the head. For example, the head connection structure 300 can rotate around the second rotation axis R2 to achieve pitching movements such as nodding. The head connection structure 300 can rotate around the second rotation axis R2 while rotating around the first rotation axis R1 to achieve a roll movement.

[0040] refer to Figure 1 and Figure 2 The first transmission disc 310 and the second transmission disc 320 are respectively located on either side of the first rotation axis R1 along a second direction X parallel to the second rotation axis R2, and the first direction Z intersects the second direction X. For example, the first transmission disc 310 and the second transmission disc 320 are respectively located on either side of a plane passing through the first rotation axis R1. For example, the first transmission disc 310 and the second transmission disc 320 can be mirror-symmetrical with respect to the plane passing through the first rotation axis R1. For example, the first transmission disc 310 and the second transmission disc 320 are respectively located on either side of the first rotation axis R1 along the second rotation axis R2.

[0041] refer to Figure 1 and Figure 2For example, the first direction Z and the second direction X are perpendicular to each other. For example, the first rotation axis R1 and the second rotation axis R2 may intersect. For example, the first rotation axis R1 and the second rotation axis R2 may be perpendicular to each other.

[0042] However, the present disclosure is not limited thereto. For example, on a plane perpendicular to the first rotation axis, there may also be a distance between the orthographic projection of the first rotation axis and the orthographic projection of the second rotation axis.

[0043] refer to Figure 1 and Figure 2 As a result, the first rotating disk 110 drives the first transmission disk 310 to move, and the second rotating disk 210 drives the second transmission disk 320 to move. The first transmission disk 310 and the second transmission disk 320 can form a combined force based on the driving force transmitted by the first rotating disk 110 and the second rotating disk 210 respectively. Under the combined action of the first transmission disk 310 and the second transmission disk 320, the head connection structure 300 can obtain two degrees of freedom in two directions, and the two degrees of freedom are connected in parallel, which improves the flexibility and reliability of the neck mechanism and facilitates the movement of the head in different directions.

[0044] refer to Figure 1 In some examples, the first rotating disk 110 is configured to rotate about its first central axis L1, and the second rotating disk 210 is configured to rotate about its second central axis L2. For example, the first central axis L1 is an axis passing through the geometric center of the first rotating disk 110. For example, the second central axis L2 is an axis passing through the geometric center of the second rotating disk 210.

[0045] refer to Figure 1 , any two of the first central axis L1, the second central axis L2, and the first rotation axis R1 are parallel to or coincide with each other. For example, the first central axis L1, the second central axis L2, and the first rotation axis R1 may both coincide with each other. However, the present invention is not limited thereto. For example, the first central axis L1 and the second central axis L2 may each be parallel to the first rotation axis R1, or one of the first central axis L1 and the second central axis L2 may coincide with the first rotation axis R1, while the other may be parallel to the first rotation axis R1.

[0046] refer to Figure 1 and Figure 2 When the first rotating disk 110 and the second rotating disk 210 rotate in the same direction, the head connection structure 300 is configured to rotate at least about the first rotation axis R1. For example, when the first rotating disk 110 and the second rotating disk 210 rotate at the same speed and in the same direction, the first transmission disk 310 and the second transmission disk 320 can drive the head connection structure 300 to rotate about the first rotation axis R1. As a result, the head connection structure 300 can rotate about the first rotation axis R1, enabling the robot's head mechanism O1 to perform movements such as shaking its head.

[0047] refer to Figure 1 and Figure 2 When the rotation direction of the first rotating disk 110 is opposite to the rotation direction of the second rotating disk 210, the head connection structure 300 is configured to rotate at least about the second rotation axis R2. For example, when the first rotating disk 110 and the second rotating disk 210 rotate at the same speed but in opposite directions, the first transmission disk 310 and the second transmission disk 320 can drive the head connection structure 300 to rotate about the second rotation axis R2, allowing the robot's head mechanism 01 to perform movements such as pitch.

[0048] For example, the rotational speed of the first rotating disk may be the angular velocity of the first rotating disk. For example, the rotational speed of the second rotating disk may be the angular velocity of the second rotating disk.

[0049] refer to Figure 1 and Figure 2 For example, the first rotating disk 110 and the second rotating disk 210 can be set to have different rotational speeds, so that the first transmission disk 310 and the second transmission disk 320 rotate at different speeds. As a result, driven by the first transmission disk 310 and the second transmission disk 320, the head connection structure 300 can simultaneously rotate about the first rotation axis R1 and about the second rotation axis R2. This allows the robot's head mechanism 01 to tilt.

[0050] For example, other parameters (for example, diameter) of the first rotating disk, the second rotating disk, the first transmission disk, the second transmission disk or other structures can also be set so that the neck mechanism can drive the head mechanism of the robot to rotate around at least one of the first rotation axis and the second rotation axis to drive the head mechanism to move flexibly. The present disclosure does not impose any restrictions on this.

[0051] refer to Figure 1 and Figure 2 In some examples, the first transmission disc 310 and the second transmission disc 320 are independently driven by the first rotating disc 110 and the second rotating disc 210, respectively. For example, the first rotating disc 110 and the first transmission disc 310 constitute a first transmission mechanism, and the second rotating disc 210 and the second transmission disc 320 constitute a second transmission mechanism. The first and second transmission mechanisms are independently driven. This allows for a simple structure to achieve two degrees of freedom in parallel in the head connection structure 300.

[0052] Figure 3 This is an exploded schematic diagram of a partial structure of a neck mechanism provided in an example of at least one embodiment of the present invention.

[0053] refer to Figure 1 and Figure 3In some examples, the neck mechanism further includes a first drive rope 401 and a second drive rope 402. A portion of the first drive rope 401 is wound around the first rotating disk 110, and another portion is wound around the first transmission disk 310. A portion of the second drive rope 402 is wound around the second rotating disk 210, and another portion is wound around the second transmission disk 320. Through the force transmission of the first drive rope 401 and the second drive rope 402, the head connection structure 300 can be driven by the first drive rope 401 and the second drive rope 402 to rotate forward or reverse. The drive rope has a good load-bearing capacity and is small in size, which can reliably transmit force in a limited space.

[0054] refer to Figure 1 and Figure 3 For example, the first drive rope 401 may include a first sub-rope 41 and a second sub-rope 42. A portion of the first sub-rope 41 is wound around half of the first rotating disk 110, and another portion is wound around half of the first transmission disk 310. A portion of the second sub-rope 42 is wound around the other half of the first rotating disk 110, and another portion is wound around the other half of the first transmission disk 310. Thus, the first sub-rope 41 and the second sub-rope 42 can apply force to the first transmission disk 310 in different directions.

[0055] For example, a portion of the first sub-rope can be wound around less than half a circle (e.g., 1 / 4 circle) of the first rotating disk, and another portion can be wound around less than half a circle (e.g., 1 / 4 circle) of the first transmission disk. For example, a portion of the second sub-rope can be wound around less than half a circle (e.g., 1 / 4 circle) of the second rotating disk, and another portion can be wound around less than half a circle (e.g., 1 / 4 circle) of the second transmission disk.

[0056] For example, a portion of the first sub-rope can be wound around one or more cycles of the first rotating disk, and another portion can be wound around one or more cycles of the first transmission disk. For example, a portion of the second sub-rope can be wound around one or more cycles of the second rotating disk, and another portion can be wound around one or more cycles of the second transmission disk.

[0057] It is understood that as long as the first and second drive ropes can reliably transmit force, the present disclosure does not impose any restrictions on the winding method of the first and second drive ropes. For example, the size and winding method of the first and second drive ropes can be designed based on the load-bearing requirements of the first and second drive ropes.

[0058] refer to Figure 1 and Figure 3For example, one end of the first sub-rope 41 and one end of the second sub-rope 42 can be embedded in the first rotating disk 110, and the other end of the first sub-rope 41 and the other end of the second sub-rope 42 can be embedded in the first transmission disk 310 to prevent the first sub-rope 41 and the second sub-rope 42 from falling off during the force transmission process. For example, one end of the first sub-rope 41 and one end of the second sub-rope 42 can have a height difference in the second direction X, and the other end of the first sub-rope 41 and the other end of the second sub-rope 42 can have a height difference in the first direction Z to keep the first sub-rope 41 and the second sub-rope 42 separated during the force transmission process, prevent the first sub-rope 41 and the second sub-rope 42 from interfering with each other, and improve the force transmission efficiency.

[0059] However, the present invention is not limited thereto. For example, the first drive rope may also be a single rope. As long as the first drive rope can transmit force between the first rotating disk and the first transmission disk, the present invention is not limited thereto.

[0060] refer to Figure 1 and Figure 3 For example, the specific configuration of the second driving rope 402 can also refer to the example of the first driving rope 401 mentioned above, and will not be repeated here.

[0061] refer to Figure 1 and Figure 3 In some examples, at least one of the first rotating disk 110 and the second rotating disk 210 includes a first supporting surface 101, and the first supporting surface 101 is configured to support the first drive rope 401 and the second drive rope 402 in the first direction Z. This can prevent the portion of the first drive rope 401 wound around the first rotating disk 110 from falling off, and prevent the portion of the second drive rope 402 wound around the second rotating disk 210 from falling off.

[0062] refer to Figure 1 and Figure 3 For example, the first supporting surface 101 of the first rotating disk 110 is perpendicular to the first direction Z. For example, a stepped structure can be formed in the circumference of the first rotating disk 110, and the stepped structure has multiple stepped surfaces with height differences in the first direction Z, and all the stepped surfaces together form the first supporting surface 101. Therefore, when the first driving rope 401 includes a first sub-rod 41 and a second sub-rod 42, each stepped surface can support the first sub-rod 41 and the second sub-rod 42 at different heights, so as to prevent the first sub-rod 41 and the second sub-rod 42 from interfering with each other.

[0063] refer to Figure 1 and Figure 3 It can be understood that the specific configuration of the second rotating disk 210 and the second driving rope 402 can refer to the examples of the first rotating disk 110 and the first driving rope 401 mentioned above, and the present invention will not be repeated here.

[0064] refer to Figure 1 and Figure 3 At least one of the first transmission disc 310 and the second transmission disc 320 includes a second support surface 102 , and the second support surface 102 is configured to support the first drive rope 401 and the second drive rope 402 in the second direction X. Thus, the portion of the first drive rope 401 wound around the first transmission disc 310 can be prevented from falling off, and the portion of the second drive rope 402 wound around the second transmission disc 320 can be prevented from falling off.

[0065] refer to Figure 1 and Figure 3 For example, the second support surface 102 of the first transmission disc 310 is parallel to the second rotation axis R2. For example, a stepped structure can be formed around the circumference of the first transmission disc 310, with the stepped structure having multiple stepped surfaces with height differences in the second direction X, all of which together form the second support surface 102. Thus, when the first drive rope 401 includes a first sub-rod 41 and a second sub-rod 42, each stepped surface can support the first sub-rod 41 and the second sub-rod 42 at different heights, thereby preventing the first sub-rod 41 and the second sub-rod 42 from interfering with each other.

[0066] Furthermore, the above description uses a rope drive as an example. However, the present invention is not limited thereto. For example, the first rotating disk and the first transmission disk may be driven by gears, and the first rotating disk and the second transmission disk may also be driven by gears.

[0067] Figure 4 This is a cross-sectional schematic diagram of a neck mechanism provided in an example of at least one embodiment of the present invention.

[0068] refer to Figure 1 and Figure 4 In some examples, the first rotating disk 110 includes a first positioning surface 111, and the first transmission disk 310 includes a first mating surface 311. The first positioning surface 111 and the first mating surface 311 contact each other to form a first common tangent T1. The second rotating disk 210 includes a second positioning surface 211, and the second transmission disk 320 includes a second mating surface 321. The second positioning surface 211 and the second mating surface 321 contact each other to form a second common tangent T2. At least one of the extension direction of the first common tangent T1 and the extension direction of the second common tangent T2 intersects the first direction Z and is not perpendicular to each other.

[0069] Figure 5 A schematic diagram of an orthographic projection PT1 of a first common tangent line T1 on a plane S1 perpendicular to the first rotation axis R1 and an orthographic projection PT2 of a second common tangent line T2 on a plane S1 perpendicular to the first rotation axis R1 provided in an example of at least one embodiment of the present invention.

[0070] refer to Figure 1 and Figure 5 On a plane S1 perpendicular to the first rotation axis R1, the straight line V1 on which the orthographic projection PT1 of the first common tangent line T1 lies intersects or coincides with the straight line V2 on which the orthographic projection PT2 of the second common tangent line T2 lies. For example, on the plane S1 perpendicular to the first rotation axis R1, the straight line V1 on which the orthographic projection PT1 of the first common tangent line T1 lies and the straight line V2 on which the orthographic projection PT2 of the second common tangent line T2 lies each intersect with the orthographic projection PC of the first rotation axis R1.

[0071] Figure 5 The orthographic projection of the first common tangent on a plane perpendicular to the first rotation axis, the orthographic projection of the second common tangent on a plane perpendicular to the first rotation axis, and the orthographic projection of the first rotation axis on a plane perpendicular to the first rotation axis are schematically shown as being aligned on a straight line, but the present disclosure is not limited thereto. For example, the orthographic projection of the first common tangent on a plane perpendicular to the first rotation axis may have an angle other than 180° with the orthographic projection of the second common tangent on a plane perpendicular to the first rotation axis, and the present disclosure is not limited thereto.

[0072] refer to Figure 1 and Figure 4 For example, the first rotating disk 110 has an end surface perpendicular to the first rotation axis R1, and the first positioning surface 111 intersects this end surface. For example, the first positioning surface 111 can be a chamfered corner machined from the first rotating disk 110. For example, the first transmission disk 310 has an end surface perpendicular to the second rotation axis R2, and the first mating surface 311 intersects this end surface. For example, the first mating surface 311 can be a chamfered corner machined from the first transmission disk 310.

[0073] refer to Figure 1 and Figure 4 For example, the first positioning surface 111 and the first mating surface 311 may be inclined surfaces. For example, the angle range of the slope angle of the first positioning surface 111 and the angle range of the slope angle of the first mating surface 311 may be designed according to requirements. The present invention does not impose any restrictions on this.

[0074] refer to Figure 1 and Figure 4For example, the first rotating disk 110 and the first transmission disk 310 abut against each other via the first positioning surface 111 and the first mating surface 311. As the first rotating disk 110 rotates, a force can be transmitted to the first transmission disk 310 via the first drive rope 401. As the first transmission disk 310 rotates about at least one of the first rotation axis R1 and the second rotation axis R2, the first positioning surface 111 and the second mating surface 321 are tangential to each other. This improves the stability between the first rotating disk 110 and the first transmission disk 310 while reducing friction therebetween, allowing the first transmission disk 310 to rotate more smoothly.

[0075] refer to Figure 1 and Figure 4 It can be understood that the specific configuration of the second positioning surface 211 and the second mating surface 321 can refer to the specific configuration of the first positioning surface 111 and the first mating surface 311 in the aforementioned example, and the present invention will not repeat them here.

[0076] refer to Figure 4 , for example, the angle between the first common tangent line T1 and the first direction Z may be equal to the angle between the second common tangent line T2 and the first direction Z.

[0077] refer to Figure 1 In some examples, the first structural assembly 100 includes a first drive motor 120 and a first reduction mechanism 130, and the second structural assembly 200 includes a second drive motor 220 and a second reduction mechanism 230. The first reduction mechanism 130 is transmission-connected between the first drive motor 120 and the first rotating disk 110 to increase the torque transmitted by the first drive motor 120 to the first rotating disk 110. The second reduction mechanism 230 is transmission-connected between the second drive motor 220 and the second rotating disk 210 to increase the torque transmitted by the second drive motor 220 to the second rotating disk 210.

[0078] refer to Figure 1 The first drive motor 120 is configured to drive the first rotating disk 110 to rotate about the first central axis L1 via the first reduction mechanism 130, and the second drive motor 220 is configured to drive the second rotating disk 210 to rotate about the second central axis L2 via the second reduction mechanism 230. For example, the output shaft of the first drive motor 120 can be parallel to the first central axis L1. For example, the output shaft of the second drive motor 220 can be parallel to the second central axis L2.

[0079] refer to Figure 1In some examples, the first reduction mechanism 130 includes a first driving pulley 131, a first driven pulley 132, and a first synchronous belt 133, wherein the first synchronous belt 133 is connected between the first driving pulley 131 and the first driven pulley 132. The first driving pulley 131 is connected to the output shaft of the first drive motor 120, and the first driven pulley 132 is connected to the first rotating disk 110. The second reduction mechanism 230 includes a second driving pulley 231, a second driven pulley 232, and a second synchronous belt 233, wherein the second synchronous belt 233 is connected between the second driving pulley 231 and the second driven pulley 232. The second driving pulley 231 is connected to the output shaft of the second drive motor 220, and the second driven pulley 232 is connected to the second rotating disk 210. Configuring the first reduction mechanism 130 and the second reduction mechanism 230 as a synchronous pulley mechanism simplifies the assembly of parts and facilitates replacement and maintenance.

[0080] refer to Figure 1 In some examples, the diameter of the first driving wheel 131 is smaller than the diameter of the first driven wheel 132, and the diameter of the second driving wheel 231 is smaller than the diameter of the second driven wheel 232. Thus, the first and second reduction mechanisms 130 and 230 can increase the torque of the first and second drive motors 120 and 220, thereby improving the movement stability of the head connection structure 300.

[0081] refer to Figure 1 In some examples, at least one of the first synchronous belt 133 and the second synchronous belt 233 has a dimension of 3 mm to 5 mm in the first direction Z. The neck mechanism requires less force, so the width of the first synchronous belt 133 and the second synchronous belt 233 can be designed to be smaller, making the neck mechanism more compact and saving neck space on the robot.

[0082] refer to Figure 1 For example, the dimension d1 of the first synchronous belt 133 in the first direction Z can be 3 mm to 5 mm. For example, the dimension of the first synchronous belt in the first direction can be 4 mm. For example, the dimension d2 of the second synchronous belt 233 in the first direction Z can be 3 mm to 5 mm. For example, the dimension of the second synchronous belt in the first direction Z can be 4 mm. By designing the bandwidth of the first synchronous belt 133 and the second synchronous belt 233, it is beneficial to reduce the dimensions of the first reduction mechanism 130 and the second reduction mechanism 230 in the first direction Z while maintaining stable force transmission of each synchronous belt, thereby making the structure of the neck mechanism compact.

[0083] refer to Figure 1In some examples, at least two of the first driven wheel 132, the first rotating disk 110, the second driven wheel 232, and the second rotating disk 210 are coaxially arranged. For example, the rotation axes of the first driven wheel 132, the first rotating disk 110, the second driven wheel 232, and the second rotating disk 210 all coincide with the first rotation axis R1. For example, the first driven wheel 132 and the first rotating disk 110 can be integrally formed. For example, the second driven wheel 232 and the second rotating disk 210 can be integrally formed.

[0084] Figure 6 This is a schematic diagram of an orthographic projection P1 of the first synchronous belt 133 on a plane S2 perpendicular to the second rotation axis R2 and an orthographic projection P2 of the second synchronous belt 233 on a plane S2 perpendicular to the second rotation axis R2 provided in an example of at least one embodiment of the present invention.

[0085] refer to Figure 1 and Figure 6 In some examples, on a plane S2 perpendicular to the second rotation axis R2, the orthographic projection P1 of the first synchronous belt 133 and the orthographic projection P2 of the second synchronous belt 233 do not overlap. For example, the first driven pulley 132 and the second driven pulley 232 overlap in the first direction Z, resulting in a height difference between the first synchronous belt 133 and the second synchronous belt 233 in the first direction Z. This allows for a more compact arrangement of the components of the first reduction mechanism 130 and the second reduction mechanism 230.

[0086] refer to Figure 1 In some examples, the ratio of the reduction ratio of the first drive motor 120 to the reduction ratio of the first reduction mechanism 130 may be 2-4. For example, the ratio of the reduction ratio of the first drive motor 120 to the reduction ratio of the first reduction mechanism 130 may be 3.

[0087] refer to Figure 1 In some examples, the ratio of the reduction ratio of the second drive motor 220 to the reduction ratio of the second reduction mechanism 230 may be 2-4. For example, the ratio of the reduction ratio of the second drive motor 220 to the reduction ratio of the second reduction mechanism 230 may be 3.

[0088] refer to Figure 1 For example, the ratio of the reduction ratio of the first drive motor 120 to the reduction ratio of the first reduction mechanism 130 and the ratio of the reduction ratio of the second drive motor 220 to the reduction ratio of the second reduction mechanism 230 may be the same or different.

[0089] refer to Figure 1By setting the proportional relationship between the reduction ratio of the first drive motor 120 and the first reduction mechanism 130 and the reduction ratio of the second drive motor 220 and the second reduction mechanism 230, the reduction ratio of the drive motor (for example, the first drive motor 120 or the second drive motor 220) can be made larger, and the head connection structure 300 can receive a sufficiently large driving force.

[0090] refer to Figure 1 By setting the above proportional relationship, the inertia of the head connection structure 300 is reduced relative to the inertia of the drive motor, which can adjust the inertia between the head connection structure 300 and the drive motor to achieve a better match. This can reduce the risk of oscillation during the driving process. Moreover, it can also enable the drive motor to have sensitive perception and rapid response capabilities to external forces.

[0091] refer to Figure 1 In some examples, the reduction ratio of the first drive motor 120 is 5-20. For example, the reduction ratio of the first drive motor 120 may be 6-18. For example, the reduction ratio of the first drive motor 120 may be 8-15. For example, the reduction ratio of the first drive motor 120 may be 10-12.

[0092] refer to Figure 1 In some examples, the reduction ratio of the first reduction mechanism 130 is 1 to 5. For example, the reduction ratio of the first reduction mechanism 130 may be 1 to 4. For example, the reduction ratio of the first reduction mechanism 130 may be 2 to 3.

[0093] refer to Figure 1 In some examples, the reduction ratio of the second drive motor 220 is 5-20. For example, the reduction ratio of the second drive motor 220 may be 6-18. For example, the reduction ratio of the second drive motor 220 may be 8-15. For example, the reduction ratio of the second drive motor 220 may be 10-12.

[0094] refer to Figure 1 In some examples, the reduction ratio of the second reduction mechanism 230 is 1 to 5. For example, the reduction ratio of the second reduction mechanism 230 may be 1 to 4. For example, the reduction ratio of the second reduction mechanism 230 may be 2 to 3.

[0095] refer to Figure 1 By setting the reduction ratios of the first drive motor 120, the second drive motor 220, the first reduction mechanism 130, and the second reduction mechanism 230 within an appropriate range, the risk of oscillation during the driving process can be reduced. Furthermore, the drive motors can be made more sensitive to external forces and respond quickly.

[0096] refer to Figure 1In some examples, the minimum spacing between the axis of the output shaft of the first drive motor 120 and the first rotation axis R1 is a first spacing D1, and the minimum spacing between the axis of the output shaft of the second drive motor 220 and the first rotation axis R1 is a second spacing D2. For example, the minimum spacing between the axis of the output shaft of the first drive motor 120 and the first rotation axis R1 is the spacing between the two in the third direction Y, and the minimum spacing between the axis of the output shaft of the second drive motor 220 and the first rotation axis R1 is the spacing between the two in the third direction Y. For example, the second direction X and the third direction Y intersect and are both perpendicular to the first direction Z. For example, the first direction Z, the second direction X, and the third direction Y are mutually perpendicular.

[0097] refer to Figure 1 In some examples, the first distance D1 is equal to the second distance D2. For example, the first distance D1 and the second distance D2 are substantially equal. This simplifies the parameter design of each component in the neck mechanism and facilitates the manufacture and assembly of the neck mechanism.

[0098] Figure 7 A schematic diagram of an example in at least one embodiment of the present invention providing an orthographic projection PA of the axis of the output shaft of the first drive motor 120 on the plane S1 perpendicular to the first rotation axis R1, an orthographic projection PB of the axis of the output shaft of the second drive motor 220 on the plane S1 perpendicular to the first rotation axis R1, and an orthographic projection PC of the first rotation axis R1 on the plane S1 perpendicular to the first rotation axis R1.

[0099] refer to Figure 1 and Figure 7 In some examples, on a plane S1 perpendicular to the first rotation axis R1, the line connecting the orthographic projection PA of the axis of the output shaft of the first drive motor 120, the orthographic projection PB of the axis of the output shaft of the second drive motor 220, and the orthographic projection PC of the first rotation axis R1 is a straight line L0. For example, the straight line L0 extends along the third direction Y. As a result, the first drive motor 120 and the second drive motor 220 can be arranged substantially symmetrically on either side of the head connection structure 300. Furthermore, arranging the first drive motor 120 and the second drive motor 220 on either side of the first rotation axis R1 along the third direction Y helps conserve space in the neck mechanism in the second direction X.

[0100] It can be understood that the positions of the first drive motor and the second drive motor can also be adjusted according to the actual needs of the robot, and the present invention does not impose any restrictions on this.

[0101] At least one embodiment of the present invention provides a robot comprising the neck mechanism described in any of the aforementioned examples. The robot further comprises a head mechanism 01 connected to a connection portion 330 of a head connection structure 300 of the neck mechanism. For example, the neck mechanism may be connected between the head mechanism 01 and the torso mechanism.

[0102] Since the robot according to the embodiment of the present invention uses the above-mentioned neck mechanism, it also has corresponding beneficial technical effects, which will not be described in detail here.

[0103] There are a few points to note:

[0104] (1) The drawings of the embodiments of the present invention only relate to the structures related to the embodiments of the present invention, and other structures may refer to conventional designs.

[0105] (2) In the absence of conflict, the features of the same embodiment and different embodiments of the present invention may be combined with each other.

[0106] The above description is merely an exemplary embodiment of the present invention and is not intended to limit the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A neck mechanism, characterized in that: include: A first structural assembly includes a first rotating disk; A second structural assembly includes a second rotating disk; A head connection structure, comprising a first transmission plate and a second transmission plate fixedly connected, wherein one end of the head connection structure comprises a connection portion for connecting to a head mechanism, and in a first direction, the first structural component and the second structural component are arranged on opposite sides of the end of the head connection structure where the connection portion is arranged; The first rotating disk is in driving connection with the first transmission disk, and the second rotating disk is in driving connection with the second transmission disk, so as to drive the head connection structure to rotate around at least one of a first rotation axis and a second rotation axis; the first rotation axis is parallel to the first direction; The first transmission plate and the second transmission plate are respectively located on both sides of the first rotation axis along a second direction parallel to the second rotation axis, and the first direction intersects with the second direction.

2. The neck mechanism according to claim 1, characterized in that: The first rotating disk is configured to rotate around its first central axis, and the second rotating disk is configured to rotate around its second central axis; any two of the first central axis, the second central axis and the first rotation axis are parallel to or coincide with each other; When the rotation direction of the first rotating disk is the same as the rotation direction of the second rotating disk, the head connection structure is configured to rotate at least around the first rotation axis; When the rotation direction of the first rotating disk is opposite to the rotation direction of the second rotating disk, the head connection structure is configured to rotate at least around the second rotation axis.

3. The neck mechanism according to claim 1, wherein: The first transmission disc and the second transmission disc are independently driven by the first rotating disc and the second rotating disc respectively in a one-to-one correspondence.

4. The neck mechanism according to claim 2, characterized in that: Also included are a first drive rope and a second drive rope; Part of the first drive rope is wound around the first rotating disk, and the other part is wound around the first transmission disk. Part of the second drive rope is wound around the second rotating disk, and the other part is wound around the second transmission disk, so that the head connection structure rotates forward or reversely under the drive of the first drive rope and the second drive rope.

5. The neck mechanism according to claim 4, characterized in that: The first rotating disk includes a first positioning surface, and the first transmission disk includes a first mating surface; the first positioning surface contacts the first mating surface to form a first common tangent; The second rotating disk includes a second positioning surface, and the second transmission disk includes a second mating surface; the second positioning surface contacts the second mating surface to form a second common tangent; At least one of the extension direction of the first common tangent and the extension direction of the second common tangent intersects with the first direction and is not perpendicular to each other; on a plane perpendicular to the first rotation axis, the straight line where the orthographic projection of the first common tangent lies and the straight line where the orthographic projection of the second common tangent lies intersect or coincide with each other.

6. The neck mechanism according to claim 4, characterized in that: At least one of the first rotating disk and the second rotating disk includes a first supporting surface, and the first supporting surface is configured to support the first driving rope and the second driving rope in the first direction; At least one of the first transmission disc and the second transmission disc includes a second support surface configured to support the first drive rope and the second drive rope in the second direction.

7. The neck mechanism according to claim 4, characterized in that The first structural assembly includes a first drive motor and a first reduction mechanism, and the second structural assembly includes a second drive motor and a second reduction mechanism; The first reduction mechanism is transmission-connected between the first drive motor and the first rotating disk, and the second reduction mechanism is transmission-connected between the second drive motor and the second rotating disk; The first drive motor is configured to drive the first rotating disk to rotate around the first central axis through the first reduction mechanism, and the second drive motor is configured to drive the second rotating disk to rotate around the second central axis through the second reduction mechanism.

8. The neck mechanism according to claim 7, characterized in that: The first reduction mechanism includes a first driving wheel, a first driven wheel and a first synchronous belt, wherein the first synchronous belt is connected between the first driving wheel and the first driven wheel; the first driving wheel is connected to the output shaft of the first driving motor, and the first driven wheel is connected to the first rotating disk; The second reduction mechanism includes a second driving wheel, a second driven wheel and a second synchronous belt, and the second synchronous belt is transmission-connected between the second driving wheel and the second driven wheel; the second driving wheel is connected to the output shaft of the second drive motor, and the second driven wheel is connected to the second rotating disk.

9. The neck mechanism according to claim 8, characterized in that At least two of the first driven wheel, the first rotating disk, the second driven wheel, and the second rotating disk are coaxially arranged.

10. The neck mechanism according to claim 8, wherein: The diameter of the first driving wheel is smaller than that of the first driven wheel, and the diameter of the second driving wheel is smaller than that of the second driven wheel.

11. The neck mechanism according to claim 8, characterized in that On a plane perpendicular to the second rotation axis, an orthographic projection of the first synchronous belt and an orthographic projection of the second synchronous belt do not overlap.

12. The neck mechanism according to claim 8, wherein: A dimension of at least one of the first synchronous belt and the second synchronous belt in the first direction is 3 mm to 5 mm.

13. The neck mechanism according to claim 7, wherein: The ratio of the reduction ratio of the first drive motor to the reduction ratio of the first reduction mechanism is 2-4; The ratio of the reduction ratio of the second drive motor to the reduction ratio of the second reduction mechanism is 2-4.

14. The neck mechanism according to claim 7, wherein: The reduction ratio of the first drive motor is 5-20, and the reduction ratio of the first reduction mechanism is 1-5; The reduction ratio of the second drive motor is 5-20, and the reduction ratio of the second reduction mechanism is 1-5.

15. The neck mechanism according to claim 7, wherein: The minimum distance between the axis of the output shaft of the first drive motor and the first rotation axis is a first distance, and the minimum distance between the axis of the output shaft of the second drive motor and the first rotation axis is a second distance; The first interval is equal to the second interval.

16. The neck mechanism according to claim 7, wherein: On a plane perpendicular to the first rotation axis, a line connecting the orthographic projection of the axis of the output shaft of the first drive motor, the orthographic projection of the axis of the output shaft of the second drive motor, and the orthographic projection of the first rotation axis is a straight line.

17. A robot, characterized in that: include: The neck mechanism according to any one of claims 1 to 16; as well as A head mechanism is connected to the connection portion of the head connection structure of the neck mechanism.

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