Simulation robot neck structure

Abstract

A neck structure of a simulation robot comprises a head skeleton structure, a neck support structure and a tooth transmission cross-shaped piece, arc-shaped tooth structures are arranged at the upper end and the lower end of the tooth transmission cross-shaped piece respectively, and a first rotating pin set structure and a second rotating pin set structure are arranged on the side portion of the tooth transmission cross-shaped piece respectively. The first rotating pin set structure and the second rotating pin set structure are each composed of two oppositely-arranged rotating pins, the tooth transmission cross piece is rotationally installed on the neck support structure through the second rotating pin set structure, and the head skeleton structure is rotationally installed on the tooth transmission cross piece through the first rotating pin set structure. A first driving device and a second driving device are arranged in the head skeleton structure and the neck support structure respectively, and gear structures meshed with the arc-shaped tooth structures are arranged at the output ends of the first driving device and the second driving device. The utility model has the advantages of high flexibility, large movement range, compact structure, simple and convenient movement control, modularization, low cost, and convenient and rapid installation, maintenance and integration.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of robot control, concretely relates to a simulation robot neck structure. BACKGROUND

[0002] In recent years, the technology of humanoid robots develops rapidly, and the body parts of humanoid robots gradually develop towards high integration and modularization, so that the robot body has many characteristics such as lighter weight, more compact structure, stronger replaceability and maintainability based on modularization, lower cost and the like, which has become an inevitable demand for the development of robots, especially for the neck of humanoid robots. Not only does it need to have a simple design structure to avoid being bloated and having a large neck that affects the overall industrial appearance design of the robot, but also needs the robot neck to have as many degrees of freedom as possible, so that the visual and auditory sensors of the head have a larger receiving range based on the human body. However, the common structure of the existing humanoid robot neck movement is a parallel arm and a double push rod driving control structure, which has the following shortcomings: large structure size, low space utilization, resulting in a reduction in the functions realized in other aspects within the limited physical space; high degree of dispersion, low degree of modularization, poor structure versatility and interchangeability; high degree of motion coupling, making it difficult to solve the motion; and industrialized structure line characteristics, which is not suitable for application in the field of humanoid robots, especially in the field of high-simulation humanoid robots.

[0003] In the prior art, the patent document with publication number CN 115816426 B discloses a modularized neck for a humanoid robot, which includes a rope, a movable platform, a two-degree-of-freedom parallel mechanism, a rope pre-tightening mechanism, a rotating platform, a first rope winding drum, a second rope winding drum, a shell, and a driving mechanism. The neck device can satisfy three-degree-of-freedom neck movement through the combination of the rope, the drum, and the motion chain group, can modularize the neck device of the robot, and connects different robot heads through the movable platform. By setting the motion chain group, the dynamic pulley principle is adopted to amplify the tension and stiffness in the two-degree-of-freedom motion direction, ensuring that the mechanism is lightweight and compact while not losing tension and stiffness. By setting the rope pre-tightening mechanism, the problem of the lengthening of the rope itself caused by the characteristics of the rope after multiple stretches is solved. Although the above-mentioned scheme has a small structure size and high space utilization, the degree of freedom of its movement is limited, and the rope driving control method leads to low control accuracy. Although the rope pre-tightening mechanism is provided to avoid this problem, there is still a problem of low control accuracy after long-term use, and the movement is complex, making it difficult to solve the motion. SUMMARY

[0004] The utility model discloses in view of prior art's insufficient, propose a high flexibility, big activity range, compact structure, motion control simple and convenient, modular, low cost, convenient quick installation, maintenance and integrated simulation robot neck structure.

[0005] The specific technical scheme is as follows:

[0006] A simulation robot neck structure, including head skeleton structure, neck support structure and tooth transmission cross piece, the tooth transmission cross piece upper and lower ends are provided with arc tooth structure respectively, first rotation pin group structure and second rotation pin group structure are provided with respectively on the side of tooth transmission cross piece, first rotation pin group structure and second rotation pin group structure all are composed of two opposite rotation pins, and four rotation pins are provided on four sides of tooth transmission cross piece respectively, tooth transmission cross piece is rotatably installed on neck support structure through second rotation pin group structure, head skeleton structure is rotatably installed on tooth transmission cross piece through first rotation pin group structure, first drive device and second drive device are provided with respectively in head skeleton structure and neck support structure, gear structure is provided with on the output end of first drive device and second drive device, gear structure is engaged with arc tooth structure on the upper and lower ends of tooth transmission cross piece respectively.

[0007] As preferred: still including fixed bottom ring seat, neck support structure rotatably installs on fixed bottom ring seat, inner ring gear structure is equipped in fixed bottom ring seat, third drive device is provided with in neck support structure, the output end of third drive device is downward, and the output end of third drive device is connected with gear structure, and the gear structure is engaged with inner ring gear structure.

[0008] As preferred: the output end of second drive device is provided with bevel gear, the lower end of tooth transmission cross piece is rotatably installed with half arc bevel gear disc through screw, and bevel gear is engaged with half arc bevel gear disc.

[0009] As preferred: still including shoulder skeleton structure, fixed bottom ring seat is installed on shoulder skeleton structure.

[0010] As preferred: head skeleton structure is provided with adapter support frame, first drive device is installed on adapter support frame, a group of lower hinged ears are provided with on the lower side of adapter support frame, and lower hinged ear is matched with first rotation pin group structure.

[0011] As preferred: first drive device is installed on the upper side of adapter support frame, and the output end of first drive device is installed straight gear, the upper end of tooth transmission cross piece is provided with half arc straight gear, and movable hole is set up on adapter support frame, and half arc straight gear is engaged with straight gear by passing movable hole.

[0012] As preferred: four sides of the gear transmission cross piece are respectively provided with mounting hole structures, and one end of the rotating pin is detachably mounted in the mounting hole structures.

[0013] As preferred: the mounting hole structures are threaded holes, and the one end of the rotating pin is a screw structure matched with the threaded holes.

[0014] As preferred: the neck support structure is composed of a U-shaped mounting frame and a rotary base, the rotary base is arranged at the bottom of the U-shaped mounting frame and integrally formed, the second driving device and the third driving device are mounted in the U-shaped mounting frame, the rotary base is rotatably mounted in the fixed bottom ring seat or the shoulder framework structure, and a group of upper hinged ears are arranged at the top of the two sides of the U-shaped mounting frame, and the upper hinged ears are rotatably matched with the second rotating pin group structure.

[0015] As preferred: the fixed bottom ring seat is composed of two opposite buckle sleeve sets, an inner ring gear structure is arranged on the inner ring side of one of the two opposite buckle sleeve sets, the opposite sides of the two opposite buckle sleeve sets are respectively provided with a positioning pin and a pin hole matched with each other, and the two opposite buckle sleeve sets are assembled together through screws, and the outer ring side of the two opposite buckle sleeve sets is further provided with a mounting flange, a group of mounting holes are arranged on the mounting flange, and the mounting flange is used for mounting the shoulder framework structure.

[0016] The head framework structure is movably mounted on the neck support structure through the gear transmission cross piece, the first rotating pin group structure and the second rotating pin group structure on the side of the gear transmission cross piece are different direction rotating center shafts, the gear wheels at the output ends of the first driving device and the second driving device are meshed with the arc-shaped tooth structures at the upper and lower ends of the gear transmission cross piece to realize rotating control, so that the up-and-down nodding and the left-and-right swinging movements of the head framework structure are realized, the structure is compact, high integration, the movement control is accurate and simple, the movement control algorithm is simple, and decoupling is not needed; the neck support structure is rotatably mounted on the fixed bottom ring seat, the gear wheel of the third driving device mounted in the neck support structure is meshed with the inner ring gear structure of the fixed bottom ring seat to drive, so that the head turning movement of the head framework structure is realized, the whole adopts a series layout, the volume is small, the space is saved, the modularization degree is high, the structure is compact, the universality and interchangeability are strengthened, the flexibility of the whole is high, the movement range is large, the movement amplitude of the human head can be accurately realized, and even the movement amplitude can be exceeded; the fixed bottom ring seat composed of two opposite buckle sleeve sets, the first rotating pin group structure and the second rotating pin group structure and the like can be detachably mounted, so that rapid installation, maintenance and integration are facilitated. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole three-dimensional structure schematic diagram of the utility model.

[0018] Figure 2It is the installation structure schematic view of head skeleton structure, neck support structure and tooth transmission cross piece in the utility model.

[0019] Figure 3 It is the explosion schematic view of head skeleton structure, neck support structure and tooth transmission cross piece in the utility model.

[0020] Figure 4 It is the structure schematic view of head skeleton structure in the utility model.

[0021] Figure 5 It is the structure schematic view of tooth transmission cross piece in the utility model.

[0022] Figure 6 It is the structure schematic view of fixed bottom ring seat in the utility model.

[0023] Figure 7 It is the schematic view of completing nodding and looking up movement in the utility model.

[0024] Figure 8 It is the schematic view of completing swing movement in the utility model.

[0025] Figure 9 It is the schematic view of completing rotating swing movement in the utility model.

[0026] In the drawing: head skeleton structure 1, neck support structure 2, tooth transmission cross piece 3, fixed bottom ring seat 4, shoulder skeleton structure 5,

[0027] First rotating pin group structure 31, second rotating pin group structure 32, installation hole structure 33,

[0028] First driving device 11, adapter support frame 12, lower hinged lug 13, head bone shell 14,

[0029] Second driving device 21, third driving device 22, U-shaped mounting frame 23, slewing base 24, upper hinged lug 25,

[0030] Counter buckle sleeve 41, installation flange 42. DETAILED DESCRIPTION

[0031] The preferred embodiments of the utility model are described in detail below in combination with the drawings, so that the advantages and characteristics of the utility model can be more easily understood by the person skilled in the art, and the protection scope of the utility model is more clearly and explicitly defined.

[0032] In the description of the utility model, it needs to be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or positional relationship shown based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0033] In the description of the utility model, it also needs to be explained that, unless otherwise explicitly specified and limited, the terms "setting", "mounting", "connecting" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected, can be directly connected, or connected through an intermediate medium, or the communication between two elements. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. Embodiment

[0034] As shown in Figures 1 to 9 : a simulation robot neck structure, which is provided with a head skeleton structure 1, a neck support structure 2, a tooth transmission cross piece 3, a fixed bottom ring seat 4 and a shoulder skeleton structure 5, the fixed bottom ring seat 4 is installed on the shoulder skeleton structure 5, if only the robot head is displayed, the shoulder skeleton structure 5 can also be a simple support seat, the neck support structure 2 is rotatably installed on the fixed bottom ring seat 4, so as to realize the head turning movement of the head skeleton structure 1, as shown in Figure 9 , the head skeleton structure 1 is a robot head or a humanoid head for loading a more full image, the head skeleton structure 1 is movably installed on the neck support structure 2 through the tooth transmission cross piece 3, so as to realize the up-and-down nodding and the left-and-right swinging movements of the head skeleton structure 1, as shown in Figure 7 and Figure 8 , which is compact in structure and simple in movement control.

[0035] A first rotating pin group structure 31 and a second rotating pin group structure 32 are respectively arranged on the sides of the gear transmission cross piece 3, the first rotating pin group structure 31 and the second rotating pin group structure 32 are each composed of two oppositely arranged rotating pins, the two oppositely arranged rotating pins are coaxial and symmetrical, and the four rotating pins are respectively arranged on the four sides of the gear transmission cross piece 3, that is, the rotating center axes of the first rotating pin group structure 31 and the second rotating pin group structure 32 are perpendicular to each other, the gear transmission cross piece 3 is rotatably installed on the neck support structure 2 through the second rotating pin group structure 32, and the head framework structure 1 is rotatably installed on the gear transmission cross piece 3 through the first rotating pin group structure 31, specifically, the four sides of the gear transmission cross piece 3 are respectively provided with mounting hole structures 33, and one end of the rotating pin is detachably installed in the mounting hole structure 33; specifically, the mounting hole structure 33 is a threaded hole, and the one end of the rotating pin is a screw rod structure, the screw rod structure cooperates with the threaded hole, or it can also be other structures convenient for the installation of the rotating pin, such as a ball spring pin, etc., so as to facilitate quick installation, maintenance and modular integration, and one of the rotating pins on the first rotating pin group structure 31 and the second rotating pin group structure 32 can also be directly and integrally fixed on the side of the gear transmission cross piece 3.

[0036] Among them, the gear transmission cross piece 3 is further provided with arc-shaped tooth structures at the upper and lower ends, respectively, and first driving device 11 and second driving device 21 are respectively arranged in the head framework structure 1 and the neck support structure 2, and the output end of the first driving device 11 and the second driving device 21 is provided with a gear structure, and the gear structure is engaged with the arc-shaped tooth structure at the upper and lower ends of the gear transmission cross piece 3; specifically, the output end of the second driving device 21 is provided with a bevel gear, and the lower end of the gear transmission cross piece 3 is tightly installed with a semi-arc-shaped bevel gear disc through a screw, the bevel gear is engaged with the semi-arc-shaped bevel gear disc, and the semi-arc-shaped bevel gear disc is detachably installed through a screw, so that when the arc-shaped tooth structure at the upper end is aligned and engaged during installation, the semi-arc-shaped bevel gear disc at the lower end can still be accurately and conveniently aligned and engaged with the bevel gear during installation; the output end of the first driving device 11 is installed with a straight gear, or a bevel gear can also be used, and the upper end of the gear transmission cross piece 3 is provided with a semi-arc-shaped straight gear, and the semi-arc-shaped straight gear is engaged with the straight gear; and according to the different arrangement directions of the output ends of the first driving device 11 and the second driving device 21, the bevel gear and the straight gear provided on the output ends can be exchanged for use, or other forms of transmission structure can also be used.

[0037] An inner ring gear structure is arranged in the inner ring of the fixed bottom ring seat 4, and a third driving device 22 is further arranged in the neck support structure 2, the output end of the third driving device 22 is downward, and the output end of the third driving device 22 is connected with a gear structure, and the gear structure is engaged with the inner ring gear structure.

[0038] The fixed bottom ring seat 4 is composed of two snap-on tile sleeves 41, one of which is provided with an inner ring gear structure on the inner ring side, and the opposite sides of the two snap-on tile sleeves 41 are respectively provided with a positioning pin and a pin hole matched with each other, and the two snap-on tile sleeves 41 are assembled together by screws, and the outer ring side of the two snap-on tile sleeves 41 is also provided with a mounting flange 42, and a mounting hole group is formed on the mounting flange 42 for mounting the shoulder framework structure 5.

[0039] The head framework structure 1 is provided with a switching support frame 12, and the first driving device 11 is installed on the upper side of the switching support frame 12, and a movable hole is formed on the switching support frame 12, and the half-arc straight gear passes through the movable hole and is engaged with the straight gear, and the half-arc straight gear has a long support arm; the first driving device 11 can also be installed on the lower side of the switching support frame 12, but it is easy to lengthen the neck part, causing the proportion to be out of harmony, so it is generally not used.

[0040] A group of lower hinged ears 13 are arranged on the lower side of the switching support frame 12, and the lower hinged ears 13 are matched with the first rotating pin group structure 31; the first driving device 11 is installed on the upper side of the switching support frame 12, and the head framework structure 1 is provided with a head bone shell 14, which is installed on the switching support frame 12, generally fixed on the edge part of the switching support frame 12, and the first driving device 11 is installed on the middle part of the switching support frame 12, without causing interference, and the head bone shell 14 can be used to set the simulated human skin tissue, or can be directly designed as a mechanical appearance state, and visual and auditory sensors are arranged, and the head bone shell 14 is driven by the switching support frame 12 to rotate in all directions to obtain more external information.

[0041] The neck support structure 2 is composed of a U-shaped mounting frame 23 and a rotary base 24, and the rotary base 24 is arranged at the bottom of the U-shaped mounting frame 23 and is integrally formed, and the second driving device 21 and the third driving device 22 are installed in the U-shaped mounting frame 23, and the second driving device 21 and the third driving device 22 are arranged side by side, but one output end is upward and the other output end is downward, which saves more space and is convenient for neck integration, the rotary base 24 is rotatably installed in the fixed bottom ring seat 4 or the shoulder framework structure 5, and the rotary base 24 is usually rotatably installed in the fixed bottom ring seat 4, the rotary base 24 is sleeve-shaped, and the sleeve of the rotary base 24 rotates along the inner ring of the fixed bottom ring seat 4, and a ring-shaped boss is arranged at the bottom of the sleeve of the rotary base 24 to clamp the lower surface of the fixed bottom ring seat 4, and a bearing can be arranged between the rotary base 24 and the fixed bottom ring seat 4 to increase the friction performance, and the same bearing can be arranged between the hinged ear and the rotating pin to increase the friction performance, and an opening is formed on the edge of the sleeve of the rotary base 24 for the gear of the third driving device 22 to engage with the inner ring gear structure on the inner ring of the snap-on tile sleeve 41.

[0042] A set of upper hinged ears 25 are arranged at the top of both sides of the U-shaped mounting frame 23, and the upper hinged ears 25 are in rotational cooperation with the second rotational pin group structure 32; in addition, mounting holes are arranged at both sides of the U-shaped mounting frame 23, and screw structures are arranged in the mounting holes, and the second driving device 21 and the third driving device 22 are installed and fixed at both sides of the U-shaped mounting frame 23 through the screw structures, so that the installation of the second driving device 21 and the third driving device 22 is not disturbed, and maintenance is more convenient.

[0043] The overall specific implementation manner is as follows: the head skeleton structure 1 is movably installed on the neck support structure 2 through the tooth transmission cross piece 3, the first rotational pin group structure 31 and the second rotational pin group structure 32 on the side of the tooth transmission cross piece 3 are the rotational center axes in different directions, the first driving device 11 and the second driving device 21 are in meshing cooperation with the arc-shaped tooth structures at the upper and lower ends of the tooth transmission cross piece 3 through the output gears, so as to realize rotational control, thereby realizing the up-and-down nodding and tilting movement and the left-and-right swinging movement of the head skeleton structure 1, the structure is compact, highly integrated, the movement control is accurate and simple, and the movement control algorithm is simple and does not need to be decoupled; the neck support structure is rotatably installed on the fixed bottom ring seat 4, the gear of the third driving device 22 installed in the neck support structure 2 is in meshing cooperation with the internal gear structure of the fixed bottom ring seat 4, so as to realize the turning movement of the head skeleton structure 1, the whole adopts a series layout, is small in size, saves space, is high in modularization degree, is compact in structure, and is high in universality and interchangeability, and is high in flexibility and large in movement range, can accurately realize the movement range of the human head, the movement range of the up-and-down nodding and tilting movement is ±40 degrees, the movement range of the left-and-right swinging movement is ±22.5 degrees, and the movement range of the turning and tilting movement is ±45 degrees; even the movement range can be designed to be greater than the movement range, but generally it is unnecessary, the movement range is not beautiful and natural if the movement range of the robot head is too large, and even people are frightened, and a greater movement range can be realized by cooperation of the robot body.

[0044] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims.

Claims

1. A simulated robotic neck structure, characterized by: The application relates to a head skeleton structure (1), a neck support structure (2) and a tooth transmission cross (3), wherein arc-shaped tooth structures are arranged at the upper and lower ends of the tooth transmission cross (3), first and second rotating pin groups (31 and 32) are arranged at the sides of the tooth transmission cross (3), the first and second rotating pin groups (31 and 32) are each composed of two oppositely arranged rotating pins, the four rotating pins are arranged on the four sides of the tooth transmission cross (3), the tooth transmission cross (3) is rotatably arranged on the neck support structure (2) through the second rotating pin group (32), the head skeleton structure (1) is rotatably arranged on the tooth transmission cross (3) through the first rotating pin group (31), first and second driving devices (11 and 21) are arranged in the head skeleton structure (1) and the neck support structure (2) respectively, gear structures are arranged at the output ends of the first and second driving devices (11 and 21), and the gear structures are engaged with the arc-shaped tooth structures at the upper and lower ends of the tooth transmission cross (3) respectively.

2. The simulated robotic neck structure of claim 1, wherein: The application further comprises a fixed bottom ring seat (4), the neck support structure (2) is rotatably arranged on the fixed bottom ring seat (4), an inner gear ring structure is arranged in the inner ring of the fixed bottom ring seat (4), a third driving device (22) is further arranged in the neck support structure (2), the output end of the third driving device (22) is downward, a gear structure is connected to the output end of the third driving device (22), and the gear structure is engaged with the inner gear ring structure.

3. The simulated robot neck structure according to claim 1 or 2, characterized in that: A bevel gear is arranged at the output end of the second driving device (21), a semicircular bevel gear disc is tightly arranged at the lower end of the tooth transmission cross (3) through a screw, and the bevel gear is engaged with the semicircular bevel gear disc.

4. The simulated robotic neck structure of claim 2, wherein: The application further comprises a shoulder skeleton structure (5), and the fixed bottom ring seat (4) is arranged on the shoulder skeleton structure (5).

5. The simulated robotic neck structure of any of claims 1-2 or 4, wherein: The head skeleton structure (1) is provided with a switching support frame (12), the first driving device (11) is arranged on the switching support frame (12), a group of lower hinged ears (13) are arranged on the lower side of the switching support frame (12), and the lower hinged ears (13) are matched with the first rotating pin group (31).

6. The simulated robotic neck structure of claim 5, wherein: The first driving device (11) is arranged on the upper side of the switching support frame (12), a spur gear is arranged at the output end of the first driving device (11), a semicircular spur gear is arranged at the upper end of the tooth transmission cross (3), a movable hole is arranged on the switching support frame (12), and the semicircular spur gear is engaged with the spur gear through the movable hole.

7. The simulated robotic neck structure of any of claims 1, 2, 4, or 6, wherein: Mounting hole structures (33) are arranged on the four sides of the tooth transmission cross (3), and one end of the rotating pin is detachably arranged in the mounting hole structure (33).

8. The simulated robotic neck structure of claim 7, wherein: The mounting hole structure (33) is a threaded hole, and the one end of the rotating pin is a screw structure, and the screw structure is matched with the threaded hole.

9. The simulated robotic neck structure of any one of claims 2 or 4, wherein: The neck support structure (2) is composed of a U-shaped mounting frame (23) and a rotary base (24), the rotary base (24) is arranged at the bottom of the U-shaped mounting frame (23) and is integrally formed, the second driving device (21) and the third driving device (22) are mounted in the U-shaped mounting frame (23), the rotary base (24) is rotatably mounted in the fixed bottom ring seat (4) or the shoulder framework structure (5), and a group of upper hinged ears (25) are arranged at the top of the two sides of the U-shaped mounting frame (23), the upper hinged ears (25) are rotatably matched with the second rotary pin group structure (32).

10. The simulated robotic neck structure of any one of claims 2 or 4, wherein: The fixed bottom ring seat (4) is composed of two opposite buckle sleeve (41), one of the two opposite buckle sleeve (41) is provided with an inner ring gear structure on the inner ring side, the opposite sides of the two opposite buckle sleeve (41) are respectively provided with a positioning pin and a pin hole matched with each other, and the two opposite buckle sleeve (41) are assembled together through screws, and the outer ring side of the two opposite buckle sleeve (41) is further provided with a mounting flange (42), a group of mounting holes are formed in the mounting flange (42) and used for mounting the shoulder framework structure (5).

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