Robot head and neck structure and robot

Abstract

The utility model provides a robot head and neck structure and a robot, the head and neck structure comprises a horizontal rotating assembly, a pitching assembly and a side swing assembly which are connected in sequence, the horizontal rotating assembly comprises a horizontal rotating driver, the horizontal rotating driver rotates around an output shaft of the horizontal rotating driver, and the axis of the output shaft of the horizontal rotating driver is a first rotating axis; the pitching assembly comprises a pitching driver, the pitching driver rotates around an output shaft of the pitching driver, and the axis of the output shaft of the pitching driver is a second rotating axis; the side swing assembly comprises a side swing driver and a crank connecting rod structure, the side swing driver is rotationally connected with the pitching assembly through the crank connecting rod structure, the side swing driver rotates around the pitching driver through the crank connecting rod structure, and the axis, rotating around the pitching driver, of the side swing driver is a third rotating axis; the three rotating axes are perpendicular in pairs and intersect at one point on the pitching assembly, flexible rotation of the head and neck structure around a center point in three degrees of freedom is achieved, and the whole structure is compact and is in a thin and long column shape.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application number "2024109108481" filed with the China Patent Office on July 8, 2024, entitled "A Robot Head and Neck Structure and Robot", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of robotics technology, and in particular to a robot head and neck structure and a robot. Background Art

[0004] A robot's head and neck structure is a crucial component of its top and essential for human-machine interaction. However, most current robot head and neck structures have limited degrees of freedom, typically only offering one or two degrees of freedom for rotation. This results in fluid movements, making it difficult to simulate the rich movements of the human head and neck, and failing to achieve the level of natural interaction expected by users. With the booming robotics industry, user demand is increasing for robot heads and necks capable of performing more diverse movements, including multi-degree-of-freedom rotation. To meet this demand, some robot head and neck structures are designed as multi-link parallel mechanisms, achieving three degrees of freedom for rotation.

[0005] However, although the multi-link parallel mechanism can provide more degrees of freedom, its structure is complex, occupies a large space, and has an irregular shape, which is not conducive to humanoid design. Utility Model Content

[0006] The purpose of this application is to provide a robot head and neck structure and a robot to address the deficiencies in the above-mentioned prior art.

[0007] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0008] In one aspect of an embodiment of the present application, a robot head and neck structure is provided, comprising a horizontal rotation assembly, a pitch assembly, and a roll assembly connected in sequence along the height direction of the robot body, wherein:

[0009] The horizontal rotation assembly includes a horizontal rotation driver, which rotates around its output shaft, and the axis of the output shaft of the horizontal rotation driver is a first rotation axis;

[0010] The pitch assembly includes a pitch driver, the pitch driver rotates around its output shaft, and the axis of the output shaft of the pitch driver is a second rotation axis;

[0011] The roll assembly includes a roll driver and a crank-connecting rod structure, the roll driver being rotationally connected to the pitch assembly via the crank-connecting rod structure, and the roll driver rotating around the pitch driver via the crank-connecting rod structure, the axis about which the roll driver rotates around the pitch driver being a third rotation axis;

[0012] The first rotation axis, the second rotation axis and the third rotation axis are perpendicular to each other and intersect at a point on the pitch assembly.

[0013] Optionally, the crank-connecting rod structure includes a first support member, a crank and a connecting rod, one end of the first support member is fixedly connected to the side swing drive, and the other end of the first support member is hingedly connected to the pitch assembly along one side of the third rotation axis via the second bearing. One end of the crank is coaxially fixedly connected to the output shaft of the side swing drive, and the other end of the crank is hingedly connected to the connecting rod at the first connection point. The end of the connecting rod away from the crank is hingedly connected to the pitch assembly at the second connection point. The side swing drive rotates around its output shaft to drive the crank-connecting rod structure to swing around the line connecting the second bearing and the second connection point, thereby realizing the side swing drive to rotate around the pitch drive. The axis of the output shaft of the side swing drive is the fourth rotation axis, and the fourth rotation axis is parallel to the third rotation axis.

[0014] Optionally, the line connecting the crank's rotation center and the first connection point is parallel to the line connecting the second bearing and the second connection point, and the line connecting the crank's rotation center and the second bearing is parallel to the line connecting the first connection point and the second connection point. The line connecting the second bearing and the second connection point is a fixed side during the deformation process of the parallelogram formed by the crank's rotation center, the first connection point, the second connection point, and the second bearing in sequence.

[0015] Optionally, the roll assembly further includes a second support member, one end of the second support member is fixedly connected to the side of the roll drive away from the first support member, and the other end of the second support member is hingedly connected to the side of the pitch assembly away from the first support member via a third bearing.

[0016] Optionally, the pitch assembly further comprises a second fixing member fixedly sleeved on the outside of the pitch actuator, and the second fixing member is rotationally connected to the roll actuator via a crank-connecting rod structure.

[0017] Optionally, the pitch assembly further includes a U-shaped support frame fixedly connected to the horizontal rotation assembly, one side of the U-shaped support frame is hingedly connected to the pitch driver via a first bearing, and the other side of the U-shaped support frame is fixedly connected to the output shaft of the pitch driver.

[0018] Optionally, the horizontal rotation assembly further includes a first fixing member fixedly sleeved on the outside of the horizontal rotation driver, and the horizontal rotation driver is connected to the body of the robot via the first fixing member.

[0019] Optionally, the output shaft of the horizontal rotation driver is connected to the pitch assembly, and the output shaft of the horizontal rotation driver rotates around the first rotation axis.

[0020] Optionally, the robot head and neck structure further includes a visual sensor, which is fixedly connected to the side swing driver via a connecting piece.

[0021] Another aspect of an embodiment of the present application provides a robot comprising a body and any one of the above-mentioned robot head and neck structures, wherein a horizontal rotation component of the robot head and neck structure is connected to the body.

[0022] The beneficial effects of this application include:

[0023] The present application provides a robot head and neck structure and a robot, comprising a horizontal rotation assembly, a pitch assembly, and a roll assembly connected in sequence along the height direction of the robot body, making the overall structure compact and arranged in a slender columnar shape, which is conducive to the design of the robot head and neck structure, and is both aesthetically pleasing and practical. The horizontal rotation assembly includes a horizontal rotation driver, which rotates around its output shaft, and the axis of the output shaft of the horizontal rotation driver is a first rotation axis; the pitch assembly includes a pitch driver, which rotates around its output shaft, and the axis of the output shaft of the pitch driver is a second rotation axis; the roll assembly includes a roll driver and a crank-connecting rod structure, the roll driver being rotationally connected to the pitch assembly via the crank-connecting rod structure, and the roll driver rotates around the pitch driver via the crank-connecting rod structure, and the axis around which the roll driver rotates around the pitch driver is a third rotation axis; the first rotation axis, the second rotation axis, and the third rotation axis are perpendicular to each other and intersect at a point on the pitch assembly. By having each actuator rotate around its own axis of rotation, with each axis of rotation perpendicular to each other and intersecting at a point on the pitch assembly, the robot's head and neck structure can flexibly rotate in three degrees of freedom around a center point. Furthermore, the crank-connecting rod structure design not only connects the roll actuator to the pitch assembly, but also allows the roll actuator to rotate around a third axis of rotation, ensuring the accuracy and stability of motion transmission. Overall, this design makes the robot's head and neck structure simpler, more unified, and more balanced in appearance, helping to enhance the robot's overall aesthetic and design. It also makes the movements of the robot's head and neck structure more anthropomorphic, enabling it to simulate natural movements such as shaking the head, nodding, raising the head, and swinging the head sideways, greatly enhancing the robot's humanoid effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0025] Figure 1 This is one of the structural diagrams of a robot head and neck structure provided in an embodiment of the present application;

[0026] Figure 2 This is a second structural diagram of a robot head and neck structure provided in an embodiment of the present application;

[0027] Figure 3 This is a third structural diagram of a robot head and neck structure provided in an embodiment of the present application;

[0028] Figure 4 This is the fourth structural diagram of a robot head and neck structure provided in an embodiment of the present application.

[0029] Icons: 11-first rotation axis; 12-horizontal rotation drive; 13-first fixed member; 21-second rotation axis; 22-pitch drive; 23-U-shaped support frame; 24-second fixed member; 31a-third rotation axis; 31b-fourth rotation axis; 32-side swing drive; 33-first support member; 34-crank; 35-connecting rod; 36-second support member; 41-first bearing; 42-second bearing; 43-third bearing; 50-visual sensor; 51-connecting member. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application as claimed, but rather merely represents selected embodiments of the present application. It should be noted that, unless there is a conflict, the various features of the embodiments of the present application may be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0032] It should be noted that similar reference numerals and letters refer to like items in the accompanying drawings and that, as such, once an item is defined in one drawing, that definition need not be repeated for subsequent drawings.

[0033] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like only indicate the orientation or positional relationship shown in the drawings or the orientation or positional relationship commonly used during the use of the products of the present application, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used for differentiation in description and cannot be understood as indicating or implying relative importance.

[0034] In addition, the terms "horizontal", "vertical", and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0035] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] In one aspect of the present application, a robot head and neck structure is provided, which comprises a horizontal rotation assembly, a pitch assembly and a side swing assembly connected in sequence along the height direction of the body of the robot, wherein:

[0037] The horizontal rotation assembly comprises a horizontal rotation driver 12, which rotates about a first rotation axis 11;

[0038] The pitch assembly comprises a pitch driver 22, which rotates about a second rotation axis 21;

[0039] The side swing assembly comprises a side swing driver 32 and a crank linkage structure, the side swing driver 32 is rotationally connected to the pitch assembly through the crank linkage structure, and the side swing driver 32 rotates about a third rotation axis 31a through the crank linkage structure, the first rotation axis 11, the second rotation axis 21 and the third rotation axis 31a are perpendicular to each other and intersect at a point on the pitch assembly.

[0040] like Figures 1 to 4 As shown, by sequentially connecting the horizontal rotation assembly, pitch assembly, and roll assembly along the height of the robot, the overall structure is compact and arranged in a slender column. This facilitates the design of the robot's head and neck structure, creating both aesthetics and practicality. Furthermore, by having each actuator rotate about its own rotation axis, with each axis perpendicular to the others, the robot's head and neck structure can rotate flexibly in three degrees of freedom around a central point.

[0041] Specifically, the horizontal rotation assembly includes a horizontal rotation driver 12, the output shaft of which is capable of rotating about a first rotation axis 11 parallel to the height of the robot body, thereby achieving yaw rotation of the entire robot head and neck structure, enabling the entire robot head and neck structure to rotate in the left and right directions, providing basic rotational capability and realizing the robot head and neck structure's head shaking or twisting functions. The pitch assembly includes a pitch driver 22, which is capable of rotating about a second rotation axis 21 perpendicular to the first rotation axis 11, thereby achieving pitch rotation of the robot head and neck structure, allowing the pitch assembly to swing in the front-back direction, realizing the robot head and neck structure's nodding and raising functions, further enriching the robot's movement modes. The roll assembly includes a roll driver 32 and a crank-connecting rod structure. The roll driver 32 is rotationally connected to the pitch assembly via the crank-connecting rod structure, and the roll driver 32 rotates about a third rotation axis 31a via the crank-connecting rod structure, thereby achieving roll rotation of the robot head and neck structure, enabling the robot head and neck structure to swing sideways.

[0042] The crank-connecting rod structure plays a key role in transmission and connection, ensuring the accuracy and stability of motion transmission. The roll actuator 32 is connected to the pitch assembly along one side of the third rotation axis 31a via the crank-connecting rod structure.

[0043] On the one hand, when the pitch actuator 22 rotates about the second rotation axis 21, the crank-connecting rod structure primarily connects the pitch assembly and the roll actuator 32. At this point, the pitch assembly drives the roll actuator 32 to rotate synchronously via the crank-connecting rod structure. This connection ensures the overall coordination and synchronization of the head structure's movements, enabling the robot to achieve complex, multi-degree-of-freedom head movements. For example, when the robot needs to perform a pitch motion (in the pitch direction), the rotation of the pitch assembly is directly transmitted to the roll actuator 32 via the crank-connecting rod structure, causing it to rotate synchronously, thus achieving smooth and natural head movements.

[0044] On the other hand, when the crank-connecting rod structure swings within its plane, it functions as a transmission mechanism, driving the synchronous rotation of the roll actuator 32. In this situation, the pitch assembly provides a stable support, ensuring more stable and accurate rotation of the roll actuator 32. This design not only enhances the flexibility of the head structure but also improves the smoothness and reliability of the movement. For example, when the robot needs to perform a lateral head swing (roll), the driven swing of the crank-connecting rod structure can drive the roll actuator 32 to rotate about the third rotation axis 31a, while the support provided by the pitch assembly ensures the stability and accuracy of this process.

[0045] In addition, the first rotation axis 11, the second rotation axis 21 and the third rotation axis 31a intersect at a first point on the pitch assembly. This design can ensure that the movement of the robot's head and neck can be flexibly carried out around a center point, so that the posture adjustment of the head and neck is smoother and more natural. This construction method is conducive to the stability and smoothness of the head and neck movement, so that the robot can more accurately simulate the natural movement of the human head and neck. This common intersection should be located at the center of the entire robot's head and neck structure, ensuring that the rotation of the head and neck in different directions can be carried out around the same center. This design not only makes the movement of the robot's head and neck more regular and unified, but also improves the stability and reliability of the robot's head and neck structure. At the same time, such a design is also conducive to reducing the size and weight of the robot's head and neck structure, making the robot more flexible and easy to carry.

[0046] Overall, this design makes the robot's head and neck structure simpler, more unified, and more balanced in appearance, which helps to enhance the robot's overall aesthetics and design. It also makes the movements of the robot's head and neck structure more anthropomorphic, and can simulate natural movements such as shaking the head, nodding, raising the head, and swinging the head sideways, greatly enhancing the robot's anthropomorphic effect.

[0047] Alternatively, as Figure 2 As shown, the robot head and neck structure also includes a visual sensor 50, which is fixedly connected to the side swing driver 32 via a connector 51, so that the visual sensor 50 can adapt to the rotation of the head and neck, and ensure that the visual sensor 50 can remain stable when the posture of the head and neck changes. The design of the visual sensor 50 is intended to ensure that the visual sensor 50 can perform all-round environmental detection and dynamic perception as the head and neck move. Through such a layout, the robot can not only achieve more accurate and comprehensive environmental perception, but also adjust its posture in real time during movement, and better adapt to various work scenarios and task requirements. Such a structural design not only improves the intelligence level of the robot, but also enhances the interactivity between the robot and human users, and expands the field and scope of robot application.

[0048] Optionally, in addition to the visual sensor 50, the robot head and neck can be provided with other various sensors to enhance its environmental perception capabilities and functional expandability, such as one or more of sound sensors, touch sensors, temperature sensors, motion sensors, and biological sensors, and the combination of these sensors can be adjusted and expanded according to specific application requirements to achieve richer functions and more extensive application scenarios.

[0049] Optionally, the horizontal rotation assembly further comprises a first fixing member 13 fixedly sleeved outside the horizontal rotation driver 12, and the horizontal rotation driver 12 is connected with the body of the robot through the first fixing member 13. The design of the first fixing member 13 effectively supports the horizontal rotation driver 12, thereby providing a stable support basis for the entire robot head and neck structure, which can be firmly fixed on the body of the robot, so that the entire robot head and neck structure can maintain stability during movement and is not prone to shaking and jittering, thereby improving the working efficiency and operation precision of the robot. At the same time, the first fixing member 13 can be fixedly sleeved outside the horizontal rotation driver 12, which can reduce the damage and wear of the horizontal rotation driver 12, effectively increase the connection area between the head and neck structure and the body, make the head and neck structure of the robot more closely combined with the body, and effectively disperse the force and pressure generated by the head and neck structure during movement, thereby reducing the load of the connection and prolonging the service life of the robot.

[0050] Optionally, the horizontal rotation driver 12 is fixedly connected with the body through the first fixing member 13, which ensures the stable fixation of the entire head and neck, provides a reliable basis for the movement of the head and neck, and is conducive to the design of the overall robot. The output shaft of the horizontal rotation driver 12 is connected with the pitch assembly, and the output shaft of the horizontal rotation driver 12 rotates around the first rotation axis 11 to drive the synchronous rotation of the pitch assembly and the yaw assembly.

[0051] Specifically, the output shaft of the horizontal rotation driver 12 rotates around the first rotation axis 11, which ensures the stability and reliability of the movement of the head and neck. Moreover, through the connection point between the output shaft of the horizontal rotation driver 12 and the pitch assembly, the driven rotation of the output shaft of the horizontal rotation driver 12 can drive the synchronous rotation of the pitch assembly and the yaw assembly. This connection relationship enables the horizontal rotation assembly to effectively transmit power and movement, thereby realizing the rotation function of the head and neck. Through the connection with the pitch assembly, the horizontal rotation assembly can control the movement of the entire head and neck structure, providing the robot with flexible head and neck posture adjustment capability and improving the precision and controllability of its movement.

[0052] Optionally, the pitch assembly also includes a second fixing member 24 fixedly mounted on the outside of the pitch driver 22. The second fixing member 24 can reduce damage and wear of the pitch driver 22 and provide a reliable connection position for the connection between the pitch driver 22 and the crank-connecting rod structure. By fixing the second fixing member 24 on the outside of the pitch driver 22 and rotating one end of the crank-connecting rod structure to the second fixing member 24 and the other end to the roll driver 32, the pitch driver 22 can be rotated to be connected to the roll driver 32 via the crank-connecting rod structure, thereby further enhancing the stability of the connection between different drivers.

[0053] Optionally, the pitch assembly also includes a U-shaped support frame 23 fixedly connected to the output shaft of the horizontal rotation drive 12 of the horizontal rotation assembly. The U-shaped support frame 23 provides stable support for the pitch assembly and roll assembly, thereby making the pitch drive 22 and roll drive 32 more stable and reliable during movement. One side of the U-shaped support frame 23 is hingedly connected to the pitch drive 22 via a first bearing 41, and the other side of the U-shaped support frame 23 is fixedly connected to the output shaft of the pitch drive 22. This connection method ensures that the pitch assembly can effectively link with the horizontal rotation assembly to achieve the overall movement of the head and neck structure. It also ensures that the U-shaped support frame 23 can effectively support the pitch drive 22, providing a solid support point for its movement. The design of the first bearing 41 ensures flexibility and smoothness of relative rotation, allowing the U-shaped support frame 23 to remain stationary when the pitch drive 22 rotates about the second rotation axis 21. Moreover, when the pitch driver 22 is driven to rotate around the second rotation axis 21, it will drive the second fixing part 24 fixed around it to rotate synchronously. The second fixing part 24 can transmit its own rotational motion to the roll assembly connected to it to drive the roll assembly to rotate synchronously, so that the entire head and neck structure can achieve complex, multi-degree-of-freedom movement.

[0054] Optionally, the crank-connecting rod structure includes a first support member 33, a crank 34, and a connecting rod 35, wherein one end of the first support member 33 is fixedly connected to the roll actuator 32, and the other end of the first support member 33 is hingedly connected to the second fixed member 24 of the pitch assembly along one side of the third rotation axis 31a via a second bearing 42. One end of the crank 34 is coaxially fixedly connected to the output shaft of the roll actuator 32, ensuring that the crank 34 can rotate synchronously with the rotation of the output shaft of the roll actuator 32. The other end of the crank 34 is hingedly connected to the connecting rod 35 at a first connection point, and the end of the connecting rod 35 away from the crank 34 is hingedly connected to the second fixed member 24 of the pitch assembly at a second connection point. Thus, together, a four-bar linkage is formed, which enables the entire head and neck to maintain a high degree of stability and coordination during movement. Specifically, the two connection points of the four-bar linkage located at the second fixed member 24, namely, the second bearing 42 and the second connection point, remain stationary, and these two fixed connection points provide support and stability for movement. When the output shaft of roll actuator 32 is driven to rotate about fourth rotation axis 31b, which is parallel to third rotation axis 31a, it drives the crank-connecting rod structure to swing about second bearing 42 and the second connection point, thereby driving roll actuator 32 and vision sensor 50 attached to roll actuator 32 to rotate about third rotation axis 31a. Overall, the stable support and precise transmission of the four-bar linkage enable more natural and smooth movement of the robot head, enhancing its interactivity with the environment and users.

[0055] Optionally, the line connecting the rotation center of crank 34 and the first connection point is parallel to the line connecting the second bearing 42 and the second connection point, and the line connecting the rotation center of crank 34 and the second bearing 42 is parallel to the line connecting the first and second connection points. This means that the four-bar linkage is a parallelogram. When the robot is in its initial, inactive state, the axis of crank 34 is perpendicular to the axis of connecting rod 35. This means that the four-bar linkage is rectangular, maintaining a slender columnar arrangement of the robot's head and neck structure and reducing horizontal space. When the robot begins operation and the output shaft of the roll actuator 32 begins to rotate, it drives the crank-connecting rod structure to swing about the second bearing 42 and the second connection point, thereby driving the roll actuator 32 and the visual sensor 50 fixed to the roll actuator 32 to rotate about the third rotation axis 31a. At this point, the four-bar linkage changes from a rectangle to a parallelogram.

[0056] Optionally, the roll assembly further includes a second support member 36. One end of the second support member 36 is fixedly connected to the side of the roll actuator 32 away from the first support member 33. The other end of the second support member 36 is hingedly connected to the side of the second fixed member 24 of the pitch assembly away from the first support member 33 via a third bearing 43. The crank-connecting rod structure and the design of the second support member 36 together provide stable support for the roll actuator 32. The second bearing 42 and the third bearing 43 are coaxial, perpendicular to the axis of the first bearing 41, and coplanar. The axes of the second and third bearings 42 and 43 form the third rotation axis 31a, and the axis of the first bearing 41 forms the second rotation axis 21. In other words, the second rotation axis 21 and the third rotation axis 31a are coplanar. As a result, the roll actuator 32 can rotate relative to the pitch actuator 22 about the third rotation axis 31a without rotating relative to the pitch actuator 22 about the second rotation axis 21. Rotation of the pitch actuator 22 about the second rotation axis 21 drives synchronous rotation of the roll actuator 32. Through this multi-bearing design, the robot's head and neck structure can maintain a high degree of stability and precision during movement.

[0057] Another aspect of the embodiments of the present application provides a robot comprising a body and any of the above-mentioned robot head and neck structures. The body, as the foundation and support structure of the robot, needs to consider stability, reliability, and the connection method with each component to ensure that the entire robot remains stable during movement. The horizontal rotation component of the robot head and neck structure is connected to the body, realizing complex movement with multiple degrees of freedom, and improving the flexibility and anthropomorphism of the robot. Since the robot includes the above-mentioned robot head and neck structure, it also has the same beneficial effects as the robot head and neck structure, which will not be repeated here.

[0058] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A robot head and neck structure, characterized in that: It includes a horizontal rotation component, a pitch component and a side swing component connected in sequence along the height direction of the robot body, wherein: The horizontal rotation assembly comprises a horizontal rotation driver (12), wherein the horizontal rotation driver (12) rotates around its output shaft, and the axis of the output shaft of the horizontal rotation driver (12) is a first rotation axis (11); The pitch assembly comprises a pitch driver (22), the pitch driver (22) rotates around its output shaft, and the axis of the output shaft of the pitch driver (22) is a second rotation axis (21); The roll assembly comprises a roll driver (32) and a crank-connecting rod structure, the roll driver (32) being rotationally connected to the pitch assembly via the crank-connecting rod structure, and the roll driver (32) rotating around the pitch driver (22) via the crank-connecting rod structure, the axis around which the roll driver (32) rotates around the pitch driver (22) being a third rotation axis (31a); The first rotation axis (11), the second rotation axis (21), and the third rotation axis (31a) are perpendicular to each other and intersect at a point on the pitch assembly; The crank-connecting rod structure comprises a first support member (33), a crank (34) and a connecting rod (35), one end of the first support member (33) is fixedly connected to the side swing driver (32), the other end of the first support member (33) is hingedly connected to the pitch assembly along one side of the third rotation axis (31a) via a second bearing (42), one end of the crank (34) is coaxially fixedly connected to the output shaft of the side swing driver (32), and the other end of the crank (34) is hingedly connected to the connecting rod (35) at a first connection point. One end of the connecting rod (35) away from the crank (34) is hingedly connected to the pitch assembly at a second connection point; the roll drive (32) rotates around its output shaft to drive the crank-connecting rod structure to swing around the line connecting the second bearing (42) and the second connection point, thereby realizing the roll drive (32) rotating around the pitch drive (22); the axis of the output shaft of the roll drive (32) is a fourth rotation axis (31b), and the fourth rotation axis (31b) is parallel to the third rotation axis (31a); The line connecting the rotation center of the crank (34) and the first connection point is parallel to the line connecting the second bearing (42) and the second connection point, and the line connecting the rotation center of the crank (34) and the second bearing (42) is parallel to the line connecting the first connection point and the second connection point. During the deformation process, the line connecting the second bearing (42) and the second connection point of the parallelogram formed by the rotation center of the crank (34), the first connection point, the second connection point, and the second bearing (42) in sequence is a fixed side.

2. The robot head and neck structure according to claim 1, characterized in that: The roll assembly further comprises a second support member (36), one end of the second support member (36) being fixedly connected to a side of the roll drive (32) away from the first support member (33), and the other end of the second support member (36) being hingedly connected to a side of the pitch assembly away from the first support member (33) via a third bearing (43).

3. The robot head and neck structure according to claim 1 or 2, characterized in that: The pitch assembly further comprises a second fixing member (24) fixedly sleeved outside the pitch driver (22), and the second fixing member (24) is rotationally connected to the lateral swing driver (32) via the crank-connecting rod structure.

4. The robot head and neck structure according to claim 1 or 2, characterized in that: The pitch assembly further comprises a U-shaped support frame (23) fixedly connected to the horizontal rotation assembly, one side of the U-shaped support frame (23) being hingedly connected to the pitch driver (22) via a first bearing (41), and the other side of the U-shaped support frame (23) being fixedly connected to an output shaft of the pitch driver (22).

5. The robot head and neck structure according to claim 1 or 2, characterized in that: The horizontal rotation assembly further comprises a first fixing member (13) fixedly sleeved on the outside of the horizontal rotation driver (12), and the horizontal rotation driver (12) is connected to the body of the robot via the first fixing member (13).

6. The robot head and neck structure according to claim 1 or 2, characterized in that: The output shaft of the horizontal rotation driver (12) is connected to the pitch assembly, and the output shaft of the horizontal rotation driver (12) rotates around the first rotation axis (11).

7. The robot head and neck structure according to claim 1 or 2, characterized in that: The robot head and neck structure further includes a visual sensor (50), and the visual sensor (50) is fixedly connected to the side swing driver (32) via a connecting piece (51).

8. A robot, characterized in that: It comprises a body and a robot head and neck structure according to any one of claims 1 to 7, wherein a horizontal rotation component of the robot head and neck structure is connected to the body.

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