Robot with head capable of moving at multiple degrees of freedom
By setting a horizontal rotation motor and an up and down pitch motor between the robot's head and torso, multi-degree-of-freedom movement of the head is achieved, which solves the problem of requiring multiple cameras in the existing technology, realizes a wider range of visual detection and risk avoidance, and simplifies the equipment structure.
Patent Information
- Application Number
- CN202423118270.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-12-16
AI Technical Summary
In the existing technology, humanoid robots need to set up multiple cameras to meet the visual perception of a larger area, which increases the complexity of the equipment and wastes resources.
A robot with a head that can move with multiple degrees of freedom is designed. By setting a horizontal rotation motor and an up and down pitch motor between the torso and the head, the multi-degree-of-freedom movement of the head is realized, allowing the head to move in the horizontal and vertical directions, thereby expanding the visual detection range.
A wider range of visual observation can be achieved without increasing the number of cameras, which improves the robot's ability to detect and avoid risks, simplifies the equipment structure and reduces resource requirements.
Smart Images
Figure CN223477635U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of robotics technology, and in particular to a robot with a head capable of multiple degrees of freedom of movement. Background Technology
[0002] Humanoid robots on the market primarily perceive their surroundings by using cameras mounted on their heads to better perform actions and detect and avoid risks. In existing technology, the limited field of view of depth cameras mounted on the head restricts the robot's visual detection to a certain area directly in front. However, in actual operation, robots often need to detect the scene on the left and right sides, as well as the scene above and below, often requiring multiple cameras to perceive a larger area. Utility Model Content
[0003] In order to overcome at least one of the defects described in the prior art, the present invention provides a robot with a head that can move with multiple degrees of freedom, so as to solve the problem that robots in the prior art need to be equipped with multiple cameras to meet the requirements of perceiving a larger area of the scene.
[0004] The present invention provides a technical solution to address the problem by disclosing a robot with a head capable of multi-degree-of-freedom movement. The robot includes a torso, a head, and a head-neck connection structure. The torso has a neck, and the head has a camera. The head is connected to the neck via the head-neck connection structure, which includes a horizontal rotation motor and a vertical pitch motor. The horizontal rotation motor drives the head to rotate horizontally relative to the neck, and the vertical pitch motor drives the head to pitch vertically relative to the neck.
[0005] As an optional implementation, in this embodiment of the present invention, the horizontal rotation motor and the vertical pitch motor are sequentially connected along the direction from the neck to the head, with the horizontal rotation motor connected to the neck and the vertical pitch motor connected to the head.
[0006] As an optional implementation, in this embodiment of the present invention, the head and neck connection structure further includes a head support, which is disposed at the end of the pitch motor near the head, and the head is mounted on the head support.
[0007] As an optional implementation, in this embodiment of the present invention, the neck is provided with an open cavity, the horizontal rotation motor and the vertical pitch motor are housed in the cavity, a portion of the head support is housed in the cavity, and another portion of the head support extends out of the cavity from the opening for the installation of the head.
[0008] As an optional implementation, in this embodiment of the invention, the contact surface at the connection between the head and the neck is a spherical fit.
[0009] As an optional implementation, in this embodiment of the invention, the upper end of the neck is provided with a convex spherical surface, and the lower end of the head is provided with a concave spherical surface adapted to the convex spherical surface.
[0010] As an optional implementation, in this embodiment of the present invention, the horizontal rotary motor is a servo motor.
[0011] As an optional implementation, in this embodiment of the present invention, the horizontal rotary motor is provided with a first reducer and a first position encoder.
[0012] As an optional implementation, in this embodiment of the present invention, the pitch motor is a servo motor.
[0013] As an optional implementation, in this embodiment of the present invention, the pitch motor is provided with a second reducer and a second position encoder.
[0014] Implementing the embodiments of this utility model will have the following beneficial effects:
[0015] This invention relates to a robot with a multi-degree-of-freedom head, comprising a torso, a head, and a head-neck connection structure. The torso has a neck, and the head has a camera. The head is connected to the neck via the head-neck connection structure, which includes a horizontal rotation motor and a vertical pitch motor. The horizontal rotation motor drives the head to rotate horizontally relative to the neck, and the vertical pitch motor drives the head to pitch vertically relative to the neck. This design increases the robot's head's freedom of movement relative to the neck, allowing the head to rotate horizontally and pitch vertically relative to the torso. When the robot needs to explore the left and right sides, the head-neck connection structure drives the head to rotate horizontally relative to the torso. When the robot needs to know the situation above and below, the head-neck connection structure drives the head to pitch vertically relative to the torso. This allows the robot to expand its visual observation area without the need for multiple cameras, enabling more actions and better detection and risk avoidance. Attached Figure Description
[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0017] Figure 1 This is a schematic diagram of the upper body structure of a robot with a head capable of multi-degree-of-freedom movement in an embodiment of this utility model.
[0018] Figure 2 This is a cross-sectional view of the upper body of a robot with a head capable of multi-degree-of-freedom movement in an embodiment of this utility model.
[0019] Figure 3 This is a schematic diagram of the torso of a robot with a head capable of multi-degree-of-freedom movement in an embodiment of this utility model.
[0020] Figure 4 This is a schematic diagram of the head of a robot with multi-degree-of-freedom head movement, mounted on a head-neck connection structure, in an embodiment of this utility model.
[0021] Figure 5 This is a schematic diagram of the head-neck connection structure of a robot with multi-degree-of-freedom head movement in an embodiment of this utility model.
[0022] The meanings of the reference numerals in the attached figures are as follows:
[0023] 1-Torso; 11-Neck; 111-Cavity; 112-Convex spherical surface; 2-Head; 21-Camera; 22-Concave spherical surface; 3-Head and neck connection structure; 31-Horizontal rotation motor; 32-Up and down pitch motor; 33-Head mounting bracket. Detailed Implementation
[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0025] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.
[0026] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.
[0027] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.
[0028] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.
[0029] The technical solution of this utility model will be further described below with reference to the embodiments and accompanying drawings.
[0030] Example
[0031] Please refer to the following: Figures 1 to 5 This utility model discloses a robot with a head capable of multi-degree-of-freedom movement. The robot with a head capable of multi-degree-of-freedom movement includes a torso 1, a head 2, and a head-neck connection structure 3. The torso 1 has a neck 11, and the head 2 has a camera 21. The head 2 is connected to the neck 11 via the head-neck connection structure 3, which includes a horizontal rotation motor 31 and a vertical pitch motor 32. The horizontal rotation motor 31 drives the head 2 to rotate horizontally relative to the neck 11 (e.g., ...). Figure 5 (As shown by the middle arrow X1), the pitch motor 32 is used to drive the head 2 to perform pitch movements relative to the neck 11 (e.g., ...). Figure 5(As shown by the middle arrow X2). With this design, the head and neck connection structure 3 can increase the degree of freedom of movement of the robot's head 2 relative to the neck 11, allowing the robot's head 2 to rotate horizontally and pitch vertically relative to the torso 1. When the robot needs to detect the scene in the left and right areas, the head and neck connection structure 3 drives the head 2 to rotate horizontally relative to the torso 1. When the robot needs to know the scene in the space above and the ground below, the head and neck connection structure 3 drives the head 2 to pitch vertically relative to the torso 1. Thus, the robot's visual observation area can be satisfied without setting up multiple cameras 21, enabling more functions to be performed and better detection and risk avoidance.
[0032] The camera 21 is positioned at the position of the eyes on the head 2, so that the visual detection area of the camera 21 is similar to the visual area of the human eye.
[0033] Preferably, the camera 21 in this embodiment is a depth camera 21. With this design, the depth camera 21 can provide the robot with precise perception capabilities, enabling it to perform high-precision positioning, navigation, and operation. It is understood that in other embodiments, the camera 21 can also be a regular camera 21, and this is not a limitation.
[0034] In some embodiments, the horizontal rotation motor 31 and the vertical pitch motor 32 are sequentially connected along the direction from the neck 11 to the head 2, with the horizontal rotation motor 31 connected to the neck 11 and the vertical pitch motor 32 connected to the head 2. It is understood that in other embodiments, the vertical pitch motor 32 and the horizontal rotation motor 31 may also be sequentially connected along the direction from the neck 11 to the head 2, and this is not limited here.
[0035] Furthermore, in order for the pitch motor 32 to be better connected to the head 2, the head and neck connection structure 3 also includes a head mounting bracket 33, which is located at the end of the pitch motor 32 near the head 2, and the head 2 is mounted on the head mounting bracket 33.
[0036] Furthermore, the neck 11 has an open cavity 111, in which the horizontal rotation motor 31 and the vertical pitch motor 32 are housed. A portion of the head mounting bracket 33 is housed within the cavity 111, while the other portion extends out of the cavity 111 for mounting the head 2. This design allows the head-neck connection structure 3 to be concealed within the neck 11, resulting in a more compact robot structure and improved aesthetics.
[0037] In some embodiments, to facilitate horizontal rotation and vertical pitching of the head 2 relative to the neck 11, the contact surface at the connection between the head 2 and the neck 11 is a spherical fit. This design ensures that the head 2 does not interfere with each other during horizontal rotation and vertical pitching relative to the neck 11, and also makes the connection between the head 2 and the neck 11 more compact.
[0038] Preferably, the neck 11 has a convex spherical surface 112 at its end, and the head 2 has a concave spherical surface 22 adapted to the convex spherical surface 112 at its end. With this design, the head mounting bracket 33 can be concealed within the concave spherical surface 22, ensuring that the head mounting bracket 33 is not exposed. It is understood that in other alternative embodiments, the neck 11 may also have a concave spherical surface 22 at its end, and the head 2 may have a convex spherical surface 112 at its end; this is not a limitation here.
[0039] In some embodiments, the horizontal rotary motor 31 is a servo motor. Because servo motors are characterized by high precision, high-speed response, and strong stability, the horizontal rotation of the head 2 is more precise, faster, and more stable. It is understood that in other alternative embodiments, the horizontal rotary motor 31 may also be a DC motor, AC motor, or other types of motor, and this is not limited thereto.
[0040] Furthermore, the horizontal rotary motor 31 is equipped with a first reducer (not shown) and a first position encoder (not shown). This design allows for precise control of the horizontal rotation angle of the head 2.
[0041] In some embodiments, the pitch motor 32 is a servo motor. Because servo motors are characterized by high precision, high-speed response, and strong stability, the pitch of the head 2 is more precise, faster, and more stable. It is understood that in other optional embodiments, the pitch motor 32 may also be a DC motor, an AC motor, or other types of motors; this is not limited here.
[0042] Furthermore, the pitch motor 32 is equipped with a second reducer (not shown) and a second position encoder (not shown). This design allows for precise control of the pitch angle of the head 2.
[0043] The robot with multi-degree-of-freedom head movement provided by this utility model includes a torso 1, a head 2, and a head-neck connection structure 3. The torso 1 is provided with a neck 11, and the head 2 is provided with a camera 21. The head 2 is connected to the neck 11 through the head-neck connection structure 3. The head-neck connection structure 3 includes a horizontal rotation motor 31 and a vertical pitch motor 32. The horizontal rotation motor 31 is used to drive the head 2 to rotate horizontally relative to the neck 11, and the vertical pitch motor 32 is used to drive the head 2 to pitch vertically relative to the neck 11. With this design, the head and neck connection structure 3 can increase the degree of freedom of movement of the robot's head 2 relative to the neck 11, allowing the robot's head 2 to rotate horizontally and pitch vertically relative to the torso 1. When the robot needs to detect the scene in the left and right areas, the head and neck connection structure 3 drives the head 2 to rotate horizontally relative to the torso 1. When the robot needs to know the scene in the space above and the ground below, the head and neck connection structure 3 drives the head 2 to pitch vertically relative to the torso 1. Thus, the robot's visual observation area can be satisfied without setting up multiple cameras 21, enabling more functions to be performed and better detection and risk avoidance.
[0044] The above provides a detailed description of a robot with a head capable of multi-degree-of-freedom movement, as disclosed in the embodiments of this utility model. This article uses specific examples to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the robot with a head capable of multi-degree-of-freedom movement and its core ideas. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.
Claims
1. A robot with a head capable of multi-degree-of-freedom movement, characterized in that, The device includes a torso (1), a head (2), and a head-neck connection structure (3). The torso (1) has a neck (11), and the head (2) has a camera (21). The head (2) is connected to the neck (11) through the head-neck connection structure (3). The head-neck connection structure (3) includes a horizontal rotation motor (31) and a vertical pitch motor (32). The horizontal rotation motor (31) is used to drive the head (2) to rotate horizontally relative to the neck (11), and the vertical pitch motor (32) is used to drive the head (2) to pitch vertically relative to the neck (11).
2. The robot with a head capable of multi-degree-of-freedom movement according to claim 1, characterized in that: The horizontal rotation motor (31) and the vertical pitch motor (32) are connected in sequence along the direction from the neck (11) to the head (2), with the horizontal rotation motor (31) connected to the neck (11) and the vertical pitch motor (32) connected to the head (2).
3. The robot with a head capable of multi-degree-of-freedom movement according to claim 2, characterized in that: The head and neck connection structure (3) further includes a head mounting bracket (33), which is located at the end of the pitch motor (32) near the head (2), and the head (2) is mounted on the head mounting bracket (33).
4. The robot with a head capable of multi-degree-of-freedom movement according to claim 3, characterized in that: The neck (11) is provided with an open cavity (111), the horizontal rotation motor (31) and the vertical pitch motor (32) are housed in the cavity (111), the head mounting bracket (33) is partially housed in the cavity (111), and the other part of the head mounting bracket (33) extends out of the cavity (111) from the opening for the head (2) to be mounted.
5. The robot with a head capable of multi-degree-of-freedom movement according to any one of claims 1 to 4, characterized in that: The contact surface at the connection between the head (2) and the neck (11) is a spherical fit.
6. The robot with a head capable of multi-degree-of-freedom movement according to claim 5, characterized in that: The upper end of the neck (11) is provided with a convex spherical surface (112), and the lower end of the head (2) is provided with a concave spherical surface (22) adapted to the convex spherical surface (112).
7. The robot with a head capable of multi-degree-of-freedom movement according to any one of claims 1 to 4, characterized in that: The horizontal rotary motor (31) is a servo motor.
8. The robot with a head capable of multi-degree-of-freedom movement according to claim 7, characterized in that: The horizontal rotary motor (31) is equipped with a first reducer and a first position encoder.
9. The robot with a head capable of multi-degree-of-freedom movement according to any one of claims 1 to 4, characterized in that: The pitch motor (32) is a servo motor.
10. The robot with a head capable of multi-degree-of-freedom movement according to claim 9, characterized in that: The pitch motor (32) is equipped with a second reducer and a second position encoder.