Novel humanoid robot neck structure

Abstract

The utility model relates to a novel humanoid robot neck structure which comprises a first base, clamping plates, a rotating plate, a second base, a rotating disc, a first neck arm, a second neck arm and a third neck arm, the clamping plates are symmetrically installed on the first base, the rotating plate is rotatably installed between the two clamping plates, the second base is installed on the top of the rotating plate, and the rotating disc is installed on the second base. A turntable is rotationally mounted on the second base; the first motor works to achieve left-right rotation of the second base and simulate the left-right head shaking action of the humanoid robot, the second motor works to achieve horizontal rotation of the rotating disc with the first rotating shaft as the circle center and simulate the head turning action of the humanoid robot, and the third motor works and meshing transmission of the driving teeth and the driven teeth. Rotation adjustment of multi-stage neck arms is achieved, head raising and head lowering actions of the humanoid robot are simulated, and then multi-angle and multi-direction movement of the neck of the humanoid robot is guaranteed.

Description

Technical Field

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

[0002] In robotics, the robot's head movement is achieved through the robot's neck structure, supporting the robot's head to complete predetermined actions.

[0003] When the neck of an existing humanoid robot is working, the neck adjustment direction and angle range is small, and it cannot simulate the multi-level neck structure movement, and therefore cannot simulate the actual neck movement trajectory. Therefore, it has certain limitations in actual use. Utility Model Content

[0004] The problem that the utility model solves is to provide a new type of humanoid robot neck structure, which solves the technical problem that when the existing humanoid robot neck is working, the neck adjustment direction and angle range is small, and it is impossible to simulate the multi-level neck structure activities, and therefore it is impossible to simulate the actual neck movement trajectory, and therefore has certain limitations in actual use.

[0005] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A novel humanoid robot neck structure includes a first base, a splint, a rotating plate, a second base, a turntable, a first neck arm, a second neck arm and a third neck arm. The splints are symmetrically installed on the first base, and the turntable is rotatably installed between the two splints. The second base is installed on the top of the turntable. The turntable is installed on the first neck arm. The second neck arm is rotatably installed on the top of the first neck arm. The third neck arm is rotatably installed on the top of the second neck arm.

[0007] Preferably, a first motor is installed on the side wall of the clamping plate, an output end of the first motor passes through the clamping plate and the rotating plate, and the output end of the first motor is fixedly connected to the rotating plate.

[0008] Preferably, a circular inner cavity is provided inside the second base, and the inner wall of the inner cavity is provided with inner teeth.

[0009] Preferably, a first rotating shaft is installed at the center of the bottom side of the turntable, and the first rotating shaft is connected to the second base through a bearing. A second motor is installed on the turntable, and a rotating gear is installed at the output end of the second motor, and the rotating gear is engaged with the internal gear.

[0010] Preferably, the top end of the first neck arm and the bottom end of the second neck arm are connected through a second rotating shaft, and the second rotating shaft is connected to the bearing of the top end of the first neck arm, and the second rotating shaft is fixedly connected to the bottom end of the second neck arm.

[0011] Preferably, the top end of the second neck arm and the bottom end of the third neck arm are connected through a third rotating shaft, and the third rotating shaft is connected to the top end of the second neck arm by a bearing, and the third rotating shaft is fixedly connected to the bottom end of the third neck arm.

[0012] Preferably, a third motor is installed on the side wall of the second neck arm, a driving tooth is installed on the output end of the third motor, a first driven tooth is installed on the end of the second rotating shaft, and a second driven tooth is installed on the end of the third rotating shaft, and the first driven tooth and the second driven tooth are both engaged with the driving tooth.

[0013] The beneficial effects of the present utility model are as follows: the left and right rotation of the second base is realized by the operation of the first motor, simulating the left and right shaking head movement of the humanoid robot; the horizontal rotation of the turntable with the first rotating axis as the center is realized by the operation of the second motor, simulating the head turning movement of the humanoid robot; the multi-stage rotation adjustment of the neck arm is realized by the operation of the third motor and the meshing transmission of the active teeth and the driven teeth, simulating the raising and lowering movement of the humanoid robot, thereby ensuring the multi-angle and multi-directional movement of the neck of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the first overall structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the second overall structure of the utility model;

[0016] Figure 3 This is a schematic diagram of the internal structure of the second base of the utility model.

[0017] Legend:

[0018] 1. First base; 2. Clamp; 3. Rotating plate; 4. Second base; 5. Turntable; 6. First neck arm; 7. Second neck arm; 8. Third neck arm; 9. First motor; 10. Inner cavity; 11. Inner teeth; 12. First rotating shaft; 13. Second motor; 14. Rotating teeth; 15. Second rotating shaft; 16. Third rotating shaft; 17. Third motor; 18. Driving teeth; 19. First driven teeth; 20. Second driven teeth. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Specific examples are given below.

[0021] See also Figures 1 to 3A new type of humanoid robot neck structure includes a first base 1, a splint 2, a rotating plate 3, a second base 4, a turntable 5, a first neck arm 6, a second neck arm 7 and a third neck arm 8. The splints 2 are symmetrically installed on the first base 1, and the rotating plate 3 is rotatably installed between the two splints 2. A first motor 9 is installed on the side wall of the splint 2. The output end of the first motor 9 passes through the splint 2 and the rotating plate 3, and the output end of the first motor 9 is fixedly connected to the rotating plate 3. The first motor 9 works to drive the rotating plate 3 to rotate between the two splints 2, so that the second base 4 can be rotated left and right on the first base 1 to simulate the left and right shaking head movement of the humanoid robot;

[0022] A second base 4 is mounted on the top of the rotating plate 3, on which a turntable 5 is rotatably mounted. A circular inner cavity 10 is provided inside the second base 4, and an inner tooth 11 is provided on the inner wall of the inner cavity 10. A first rotating shaft 12 is mounted at the center of the bottom side of the turntable 5, and the first rotating shaft 12 is connected to the second base 4 through a bearing. A second motor 13 is mounted on the turntable 5, and a rotating tooth 14 is mounted on the output end of the second motor 13, and the rotating tooth 14 is engaged with the inner tooth 11. The second motor 13 drives the rotating tooth 14 to rotate, and engages with the inner tooth 11 in the inner cavity 10, driving the turntable 5 to rotate with the first rotating shaft 12 as the center, simulating the humanoid robot's head-turning action.

[0023] The turntable 5 is provided with a first neck arm 6, a second neck arm 7 is rotatably installed on the top of the first neck arm 6, a third neck arm 8 is rotatably installed on the top of the second neck arm 7, the top of the first neck arm 6 and the bottom of the second neck arm 7 are connected through a second rotating shaft 15, and the second rotating shaft 15 is connected to the top bearing of the first neck arm 6, and the second rotating shaft 15 is fixedly connected to the bottom of the second neck arm 7, the top of the second neck arm 7 and the bottom of the third neck arm 8 are connected through a third rotating shaft 16, and the third rotating shaft 16 is connected to the top bearing of the second neck arm 7, and the third rotating shaft 16 is fixedly connected to the bottom of the third neck arm 8, and the side wall of the second neck arm 7 is provided with a third motor 17, the third motor 17 A driving tooth 18 is installed at the output end, a first driven tooth 19 is installed at the end of the second rotating shaft 15, and a second driven tooth 20 is installed at the end of the third rotating shaft 16. The first driven tooth 19 and the second driven tooth 20 are both engaged with the driving tooth 18. The third motor 17 drives the driving tooth 18 to rotate, and then drives the engaged first driven tooth 19 and the second driven tooth 20 to rotate, thereby realizing the rotation of the second rotating shaft 15 and the third rotating shaft 16. The rotation of the second rotating shaft 15 drives the second neck arm 7 to rotate on the first neck arm 6, and the rotation of the third rotating shaft 16 drives the third neck arm 8 to rotate on the second neck arm 7, simulating the humanoid robot's head-raising and head-lowering movements.

[0024] The first motor 9 is operated to drive the rotating plate 3 to rotate between the two clamping plates 2, so that the second base 4 can be rotated left and right on the first base 1 for adjustment, simulating the humanoid robot shaking its head left and right. The second motor 13 is operated to drive the rotating gear 14 to rotate, meshing with the internal gear 11 in the inner cavity 10 for transmission, driving the turntable 5 to rotate with the first rotating shaft 12 as the center, simulating the humanoid robot turning its head. The third motor 17 is operated to drive the active gear 18 to rotate, and then drive the meshing first driven gear 19 and second driven gear 20 to rotate, realizing the rotation of the second rotating shaft 15 and the third rotating shaft 16. The rotation of the second rotating shaft 15 drives the second neck arm 7 to rotate on the first neck arm 6, and the rotation of the third rotating shaft 16 drives the third neck arm 8 to rotate on the second neck arm 7, simulating the humanoid robot raising and lowering its head.

[0025] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A novel humanoid robot neck structure, characterized in that: The invention comprises a first base (1), a clamping plate (2), a rotating plate (3), a second base (4), a rotating disk (5), a first neck arm (6), a second neck arm (7) and a third neck arm (8), wherein the clamping plates (2) are symmetrically mounted on the first base (1), and the rotating plate (3) is rotatably mounted between the two clamping plates (2), the second base (4) is mounted on the top of the rotating plate (3), the rotating disk (5) is rotatably mounted on the second base (4), the first neck arm (6) is mounted on the rotating disk (5), the second neck arm (7) is rotatably mounted on the top of the first neck arm (6), and the third neck arm (8) is rotatably mounted on the top of the second neck arm (7).

2. A novel humanoid robot neck structure according to claim 1, characterized in that: A first motor (9) is installed on the side wall of the clamping plate (2), an output end of the first motor (9) passes through the clamping plate (2) and the rotating plate (3), and the output end of the first motor (9) is fixedly connected to the rotating plate (3).

3. The novel humanoid robot neck structure according to claim 2, characterized in that: A circular inner cavity (10) is provided inside the second base (4), and an inner wall of the inner cavity (10) is provided with inner teeth (11).

4. The novel humanoid robot neck structure according to claim 3, characterized in that: A first rotating shaft (12) is installed at the center of the bottom side of the rotating disk (5), and the first rotating shaft (12) is connected to the second base (4) through a bearing. A second motor (13) is installed on the rotating disk (5), and a rotating tooth (14) is installed at the output end of the second motor (13), and the rotating tooth (14) is engaged with the internal tooth (11).

5. The novel humanoid robot neck structure according to claim 4, characterized in that: The top end of the first neck arm (6) and the bottom end of the second neck arm (7) are connected via a second rotating shaft (15), and the second rotating shaft (15) is connected to the top end of the first neck arm (6) by a bearing, and the second rotating shaft (15) is fixedly connected to the bottom end of the second neck arm (7).

6. The novel humanoid robot neck structure according to claim 5, characterized in that: The top end of the second neck arm (7) and the bottom end of the third neck arm (8) are connected via a third rotating shaft (16), and the third rotating shaft (16) is connected to the top end of the second neck arm (7) by a bearing, and the third rotating shaft (16) is fixedly connected to the bottom end of the third neck arm (8).

7. The novel humanoid robot neck structure according to claim 6, characterized in that: A third motor (17) is installed on the side wall of the second neck arm (7), a driving tooth (18) is installed on the output end of the third motor (17), a first driven tooth (19) is installed on the end of the second rotating shaft (15), and a second driven tooth (20) is installed on the end of the third rotating shaft (16), and the first driven tooth (19) and the second driven tooth (20) are both engaged with the driving tooth (18).

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