Neck movement structure and robot

Abstract

The utility model discloses a neck movement structure and a robot, and relates to the technical field of robots, the neck movement structure comprises a fixed seat, an elastic supporting piece and a telescopic adjusting piece, one end of the elastic supporting piece is connected with the fixed seat; one end of the telescopic adjusting piece is connected with the fixing base, the other end of the telescopic adjusting piece is movably connected with the end, away from the fixing base, of the elastic supporting piece, and the telescopic adjusting piece can drive the elastic supporting piece to generate elastic deformation during stretching. The end, away from the fixing base, of the elastic supporting piece can be used for installing the head of the robot, when the robot needs to be controlled to nodding, shaking and other actions, the length of the telescopic adjusting piece can be changed by controlling the telescopic adjusting piece, the telescopic adjusting piece pulls the elastic supporting piece to swing, and the elastic supporting piece drives the head of the robot to nodding, shaking and other actions. The peripheral side of the elastic supporting piece is not provided with a limiting structure, the elastic supporting piece can move in any direction, the robot head can flexibly finish nodding, head shaking and other actions, and interaction with human beings is smoother.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a neck movement structure and a robot. Background Technology

[0002] As the robotics industry develops rapidly, users have increasingly higher demands for the actions that robots can perform, requiring them to mimic human actions as closely as possible. For example, they require robots to mimic human head and neck movements such as shaking, raising, and nodding, so that robots can interact with humans more smoothly.

[0003] The prior art disclosed in CN108890664A is a robot head motion mechanism, including a neck inner component, a neck outer component, a neck connector, a neck body connector, and a head-raising and nodding mechanism. The neck outer component is connected to the neck body connector via a large bearing. The neck outer component has a neck support shaft and a head-raising and nodding support shaft inside. The upper end of the neck inner component extends out of the neck outer component and connects to the robot head. The lower end of the neck inner component is fitted onto the outside of the neck support shaft. The neck connector is installed on the neck body connector. The head-raising and nodding mechanism includes a head-raising and nodding large gear, a head-raising and nodding small gear, a head-raising and nodding transmission bevel gear, a head-raising and nodding bevel gear, and a head-raising and nodding motor. The horizontal rotation mechanism includes a horizontal rotation motor, a horizontal rotation large gear, and a horizontal rotation small gear.

[0004] However, the existing robot still has shortcomings. For example, the robot's neck is made up of multiple connecting parts that are movably connected. It also needs to work with gears to complete actions such as nodding and shaking the head. The robot's neck has a limited range of motion and cannot flexibly complete actions such as nodding and shaking the head. Utility Model Content

[0005] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose a neck movement structure to solve the technical problem that in the prior art, the neck of a robot is made up of multiple connecting parts that are movably connected and require gears to complete actions such as nodding and shaking the head. This limits the range of motion of the robot's neck and makes it unable to flexibly complete actions such as nodding and shaking the head.

[0006] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0007] In a first aspect, this utility model provides a neck movement structure, comprising:

[0008] A mounting base for connecting the robot's body torso;

[0009] An elastic support member, one end of which is connected to the fixed base; and

[0010] A telescopic adjustment component, one end of which is connected to the fixed base, and the other end of which is movably connected to the end of the elastic support component away from the fixed base, and is capable of driving the elastic support component to produce elastic deformation during telescopic movement.

[0011] In some embodiments, the elastic support includes an elastic element and a support element, one end of the elastic element is connected to the fixed base, the other end of the elastic element is connected to the support element, and the support element is movably connected to the end of the telescopic adjustment member away from the fixed base.

[0012] In some embodiments, the support member has a first ball groove, the telescopic adjustment member has a first ball, and the first ball is rotatably embedded into the first ball groove.

[0013] In some embodiments, the support includes a support base and a movable platform. The support base is movably connected to the telescopic adjustment member, and the movable platform is rotatably connected to the support base and used to connect to the robot head. The movable platform is also connected to the elastic member.

[0014] In some embodiments, the neck movement structure further includes a torque motor, which includes a rotor and a stator. The rotor is rotatably mounted on the fixed base and connected to the elastic element. The stator is fixedly mounted on the fixed base and can drive the rotor and the elastic element to rotate when energized, so that the elastic element drives the movable platform to rotate.

[0015] In some embodiments, the fixed base has a second ball groove, and the end of the telescopic adjustment member away from the elastic support member has a second ball, which is movably embedded in the second ball groove.

[0016] In some embodiments, the elastic support member is movably provided with a plurality of the telescopic adjustment members around its periphery.

[0017] In some embodiments, the neck movement structure further includes a throat movement mechanism, which includes a laryngeal plate, a drive member, and a laryngeal block. The laryngeal plate is connected to the fixed base and arranged along the length direction of the elastic support member. The drive member is disposed on the laryngeal plate and connected to the laryngeal block, and the drive member is used to drive the laryngeal block to reciprocate.

[0018] In some embodiments, the driving component includes a drive motor, a driving synchronous pulley, a driven synchronous pulley, and a synchronous belt. The driven synchronous pulley is rotatably mounted on the throat plate. The drive motor is mounted on the throat plate and connected to the driving synchronous pulley. The synchronous belt is annular and its inner side meshes with the driving synchronous pulley and the driven synchronous pulley. The synchronous belt connects to the throat block.

[0019] Secondly, this utility model also provides a robot, including a body, a head and the aforementioned neck movement structure, wherein the fixed seat is disposed on the body and the head is disposed at the end of the elastic support member away from the fixed seat.

[0020] Compared with existing technologies, the neck movement structure provided by this utility model has an elastic support member whose end away from the fixed base can be used to mount the robot head, and the fixed base can be used to connect the robot's body torso. When it is necessary to control the robot to perform nodding, shaking, or other actions, its length can be changed by controlling the telescopic adjustment member. The telescopic adjustment member pulls the elastic support member to swing, thereby driving the robot head to perform nodding, shaking, or other actions through the elastic support member. Since the movement of the elastic support member in this application can be achieved simply by changing its length through the telescopic adjustment member, it does not require the use of gears or other components. Furthermore, the elastic support member has no limiting structure on its periphery and can move in any direction, allowing the robot head to flexibly perform nodding, shaking, and other actions, resulting in smoother interaction with humans. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the neck movement structure provided in an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 An enlarged schematic diagram of part A in the middle;

[0023] Figure 3 This is a schematic diagram of the structure of the support base provided in an embodiment of the present utility model;

[0024] Figure 4 This is a cross-sectional schematic diagram of the neck movement structure provided in an embodiment of this utility model. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0026] To address the technical problem that existing robots' necks are composed of multiple interconnected components and require gears to perform nodding and shaking movements, thus limiting the robot's range of motion and hindering its ability to flexibly perform these actions, this invention provides a neck movement structure 100 that enables robots to flexibly perform nodding and shaking movements, resulting in smoother interaction with humans.

[0027] It should be noted that the neck movement structure described in this utility model is used in, but not limited to, robots. For ease of explanation, this utility model only uses the application of the neck movement structure in a robot as an example. The principle of the neck movement structure applied to other types of equipment is essentially the same as that applied to robots, and will not be described in detail here.

[0028] Please see Figure 1 , Figure 1 This is a schematic diagram of the neck movement structure 100 in one embodiment of the present invention. The neck movement structure 100 includes a fixed base 1, an elastic support member 2, and a telescopic adjustment member 3. One end of the elastic support member 2 is connected to the fixed base 1, and one end of the telescopic adjustment member 3 is also connected to the fixed base 1. The other end of the telescopic adjustment member 3 is movably connected to the end of the elastic support member 2 away from the fixed base 1. The telescopic adjustment member 3 can pull the elastic support member 2 during extension and retraction to drive the elastic support member 2 to produce elastic deformation, while the elastic support member 2 accumulates elastic force. When the telescopic adjustment member 3 releases the force applied to the elastic support member 2, the elastic support member 2 releases the elastic force to return to its original position. Therefore, by controlling the telescopic adjustment member 3 to pull or release the elastic support member 2, the elastic support member 2 can be made to reciprocate, thereby enabling the robot head located on the elastic support member 2 to perform head shaking, head swaying, head nodding, or head lifting actions.

[0029] The elastic support member 2 of this application has no structural restrictions on its periphery and can move in a specific direction under the drive of the telescopic adjustment member 3. When multiple telescopic adjustment members 3 are set, the multiple telescopic adjustment members 3 can be arranged around the periphery of the elastic support member 2, which can drive the elastic support member 2 to move in multiple directions without the need for gears or other components. The robot head located on the elastic support member 2 can flexibly perform head shaking, head nodding, head swinging, head raising and other actions.

[0030] The telescopic adjustment component 3 can be a hydraulic telescopic rod or a fluid artificial muscle. A fluid artificial muscle is a device that achieves contraction, extension or bending movements through pressure changes of a fluid (gas or liquid). It can generate greater force and occupies less space than a hydraulic telescopic rod. Therefore, the telescopic adjustment component 3 in this embodiment is preferably a fluid artificial muscle.

[0031] In one embodiment, please refer to Figure 1The elastic support 2 includes an elastic element 21 and a support 22. One end of the elastic element 21 is connected to the fixed base 1, and the other end is connected to the support 22. The support 22 is movably connected to the telescopic adjustment member 3. In this embodiment, the elastic element 21 can be a spring or any object with elastic deformation capability. A spring is preferred in this embodiment, as it not only has elastic deformation capability but also a certain supporting capacity at its top, which can be used to stably support the robot head. The support 22 is connected to the top of the elastic element 21. The connection method is not limited; it can be welded or detachably connected, with welding being preferred due to its stability. The support 22 is used to connect the robot head so that the robot head is mounted on the elastic element 21 via the support 22. The support 22 is movably connected to the telescopic adjustment member 3. When the telescopic adjustment member 3 extends or retracts, it can cause the support 22 to swing. When the support 22 swings, it can drive the robot head located on the support 22 to perform actions such as nodding, shaking, or raising its head. The specific action depends on the installation position of the telescopic adjustment member 3. For example, the telescopic adjustment component 3 is placed directly in front of the fixed base 1 (the side facing the communicator when the robot interacts). When the telescopic adjustment component 3 extends or retracts, it can drive the robot head to perform nodding and tilting movements.

[0032] There are various ways in which the telescopic adjustment member 3 and the support member 22 can be connected. For example, in one embodiment, please refer to [reference needed]. Figure 1 and Figure 3 The support member 22 has a first ball groove 221, and the telescopic adjustment member 3 has a first ball 31 that is movably embedded in the first ball groove 221. In this embodiment, the support member 22 is movably engaged with the first ball 31 of the telescopic adjustment member 3 through the first ball groove 221, so that the telescopic adjustment member 3 can drive the support member 22 to swing up and down or left and right when it extends or retracts, thereby causing the robot head to nod or shake. In this embodiment, the support member 22 is movably engaged with the first ball 31 of the telescopic adjustment member 3 through the first ball groove 221, giving the support member 22 a higher degree of freedom and enabling it to perform head shaking and nodding actions more smoothly. In another embodiment, both the telescopic adjustment member 3 and the support member 22 can have rotating grooves, and then be connected by a rotating shaft, so that the telescopic adjustment member 3 and the support member 22 can rotate relative to each other about the central axis of the rotating shaft.

[0033] Further, please refer to Figure 1The support member 22 includes a support base 222 and a movable platform 223. The movable platform 223 is rotatably connected to the support base 222 and is used to connect the robot head. The support base 222 is movably connected to the telescopic adjustment member 3, and the movable platform 223 is connected to the elastic member 21. In this embodiment, the movable platform 223 is rotatably connected to the support base 222 via a first bearing 225. After the robot head is connected, the movable platform 223 can rotate relative to the support base 222 to allow the robot head to perform a head-shaking motion. Additionally, the support base 222 has the aforementioned first ball groove 221, which is used to movably engage with the first ball 31 of the telescopic adjustment member 3. The movable platform 223 is connected to the elastic member 21, and one end of the elastic member 21 away from the movable platform 223 can be connected to a drive device. When the drive device rotates the elastic member 21 around its central axis, it can drive the movable platform 223 to rotate.

[0034] Further, please refer to Figure 1 The movable platform 223 has multiple screw holes 224 along its periphery for detachably connecting the robot head via screws. In this embodiment, the movable platform 223 is detachably connected to the robot head via screws, facilitating the replacement of the robot head. Furthermore, the multiple screw holes 224 along the periphery of the movable platform 223 allow for the use of multiple screws to connect to the multiple screw holes 224, enabling the fixing of the robot head to multiple positions.

[0035] Further, please refer to Figure 4 The neck movement structure 100 also includes a torque motor 5, which includes a rotor 51 and a stator 52. The rotor 51 is rotatably mounted on the fixed base 1 and connected to an elastic element 21. The stator 52 is fixedly mounted on the fixed base 1 and can drive the rotor 51 and the elastic element 21 to rotate when energized, so that the elastic element 21 drives the movable platform 223 to rotate. In this embodiment, the rotor 51 is rotatably connected to the fixed base 1 through a second bearing 53. One end of the rotor 51 is fixedly connected to the elastic element 21, and the other end of the elastic element 21 is connected to the movable platform 223, which is used to connect to the robot head. When the stator 52 is energized, it can drive the rotor 51 to rotate through electromagnetic induction. The rotor 51 drives the elastic element 21 to rotate, and the elastic element 21 drives the robot head to rotate through the movable platform 223, so that the robot can perform head-shaking. It should be emphasized that when the movable platform 223 drives the robot head to rotate, the support base 222 does not rotate, so that the telescopic adjustment member 3 can control the robot head to perform nodding or tilting movements through the support base 222.

[0036] In one embodiment, please refer to Figure 2The fixed base 1 has a second ball groove 11, and the end of the telescopic adjustment member 3 away from the elastic support member 2 has a second ball (not shown in the figure), which is movably embedded in the second ball groove 11. In this embodiment, the telescopic adjustment member 3 is movably embedded in the second ball groove 11 of the fixed base 1 through the second ball, so that the telescopic adjustment member 3 is rotatably connected to the fixed base 1 and can rotate in multiple directions. When the telescopic adjustment member 3 extends and retracts to drive the robot head to move, the telescopic adjustment member 3 has a higher degree of freedom, and the movement of the robot head is smoother. In other embodiments, the telescopic adjustment member 3 can also be fixedly connected to the fixed base 1 by welding or other means. The telescopic adjustment member 3 can also drive the robot head to move when it extends and retracts, but the range of motion is smaller than that in this embodiment.

[0037] In one embodiment, please refer to Figure 1 The elastic support 2 is movably equipped with multiple telescopic adjustment components 3 around its periphery. Figure 1 In the illustrated embodiment, there are four telescopic adjustment members 3, defined as a first telescopic adjustment member 32, a second telescopic adjustment member 33, a third telescopic adjustment member 34, and a fourth telescopic adjustment member 35. The first and second telescopic adjustment members 32 and 33 are located on the front side of the elastic support member 2, while the third and fourth telescopic adjustment members 34 and 35 are located on the rear side of the elastic support member 2. The initial lengths of the third and fourth telescopic adjustment members 34 and 35 are both greater than the initial lengths of the first and second telescopic adjustment members 32 and 33. In this embodiment, the front side is defined as the side of the robot facing the user, and the rear side is defined as the side of the robot facing away from the user. When it is necessary to control the robot's head to perform a nodding motion, the first and second telescopic adjustment members 32 and 33 can be controlled to reciprocate simultaneously with equal extension and retraction distances. When it is necessary to control the robot's head to perform a tilting motion, the third and fourth telescopic adjustment members 34 and 35 can be controlled to reciprocate simultaneously with equal extension and retraction distances. When it is necessary to control the robot head to perform a head-shaking motion, the first telescopic adjustment member 32 and the third telescopic adjustment member 34 can be controlled to reciprocate and extend simultaneously with equal extension and retraction distances, or the second telescopic adjustment member 33 and the fourth telescopic adjustment member 35 can be controlled to reciprocate and extend simultaneously with equal extension and retraction distances. During this process, the support base 222 rotates under the drive of multiple telescopic adjustment members, and the support base 222 drives the elastic member 21 to twist, accumulating elastic force in the elastic member 21. The elastic member 21 can also release the elastic force to drive multiple telescopic adjustment members to reset. Therefore, the elastic member 21 of this application can not only assist the robot head in nodding and raising its head, but also assist the robot head in head-shaking, so that the movement of the robot head in any direction is unrestricted, making it easier to control the robot head to perform various actions.

[0038] In one embodiment, please refer to Figure 1 and Figure 2The neck movement structure also includes a throat movement mechanism 4, which comprises a laryngeal plate 41, a drive member 42, and a laryngeal block 43. The laryngeal plate 41 is connected to the fixed 1 and arranged along the length of the elastic support member 2. The drive member 42 is disposed on the laryngeal plate 41 and connected to the laryngeal block 43, and is used to drive the laryngeal block 43 to reciprocate. In this embodiment, by setting the throat movement mechanism 4 to mimic the movement of the human laryngeal ring, the interaction between the robot and the human is made more realistic, and the interaction experience between the human and the robot is better.

[0039] Further, please refer to Figure 2 The throat plate 41 is inclined upwards. The driving component 42 includes a drive motor 421, a driving synchronous pulley 422, a driven synchronous pulley 423, and a synchronous belt 424. The driven synchronous pulley 423 is rotatably mounted on the throat plate 41. The drive motor 421 is mounted on the throat plate 41 and connected to the driving synchronous pulley 422. The synchronous belt 424 is annular and its inner side meshes with the driving synchronous pulley 422 and the driven synchronous pulley 423. The synchronous belt 424 connects to the laryngeal block 43. In this embodiment, the laryngeal block 43 is U-shaped and is detachably connected to the synchronous belt 424 by screws. When the drive motor 421 is working, it can drive the driving synchronous pulley 422 to reciprocate. The driving synchronous pulley 422 drives the synchronous belt 424 to reciprocate, and the synchronous belt 424 drives the laryngeal block 43 to reciprocate to mimic the movement of the human Adam's apple. In other embodiments, the driving component 42 can also be replaced by a cylinder, which can also achieve the same function by driving the laryngeal block 43 to reciprocate.

[0040] Secondly, this utility model also provides a robot, including a body, a head, and the aforementioned neck movement structure. A fixed base 1 is disposed on the body, and the head is disposed at the end of the elastic support 2 away from the fixed base 1. It can be understood that the head is connected to the body through the neck movement structure, enabling the head to flexibly perform nodding, shaking, and other movements relative to the body through the neck movement structure, thereby making interaction with humans smoother.

[0041] To better understand this utility model, the following is combined with... Figures 1 to 3 The technical solution of this utility model is described in detail below:

[0042] The neck movement structure provided by this utility model has an elastic support member 2 whose end away from the fixed base 1 can be used to mount the robot head. When it is necessary to control the robot to perform nodding, shaking, or other actions, its length can be changed by controlling the telescopic adjustment member 3. The telescopic adjustment member 3 pulls the elastic support member 2 to swing, so that the elastic support member 2 drives the robot head to perform nodding, shaking, or other actions. Since the movement of the elastic support member 2 in this application can be achieved simply by changing its length through the telescopic adjustment member 3, it does not require the use of gears or other components. Furthermore, the elastic support member 2 has no limiting structure on its periphery and can move in any direction. The robot head can flexibly complete nodding, shaking, and other actions, making the interaction with humans smoother.

[0043] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A neck motion structure, characterized by, include: A mounting base for connecting the robot's body torso; An elastic support member, one end of which is connected to the fixed base, and the other end of which is used to connect to the head of the robot; and A telescopic adjustment component, one end of which is connected to the fixed base, and the other end of which is movably connected to the end of the elastic support component away from the fixed base, and is capable of driving the elastic support component to produce elastic deformation during telescopic movement.

2. The neck motion structure according to claim 1, characterized in that, The elastic support includes an elastic element and a support element. One end of the elastic element is connected to the fixed base, and the other end of the elastic element is connected to the support element. The support element is movably connected to the end of the telescopic adjustment element away from the fixed base.

3. The neck motion structure according to claim 2, wherein The support member has a first ball groove, and the telescopic adjustment member has a first ball, which rotates and embeds into the first ball groove.

4. The neck movement structure according to claim 2, characterized in that, The support component includes a support base and a movable platform. The support base is movably connected to the telescopic adjustment component. The movable platform is rotatably connected to the support base and used to connect to the robot head. The movable platform is also connected to the elastic component.

5. The neck movement structure according to claim 4, characterized in that, The neck movement structure also includes a torque motor, which includes a rotor and a stator. The rotor is rotatably mounted on the fixed base and connected to the elastic element. The stator is fixedly mounted on the fixed base and can drive the rotor and the elastic element to rotate when energized, so that the elastic element drives the movable platform to rotate.

6. The neck motion structure of claim 1, wherein The fixed base has a second ball groove, and the end of the telescopic adjustment member away from the elastic support member has a second ball, which is movably embedded into the second ball groove.

7. The neck motion structure of claim 1, wherein The elastic support member is movably provided with multiple telescopic adjustment members around its periphery.

8. The neck motion structure of claim 1, wherein The neck movement structure also includes a throat movement mechanism, which includes a laryngeal plate, a driving member, and a laryngeal block. The laryngeal plate is connected to the fixed base and arranged along the length of the elastic support. The driving member is located on the laryngeal plate and connected to the laryngeal block, and is used to drive the laryngeal block to reciprocate.

9. The neck motion structure of claim 8, wherein The driving component includes a drive motor, a driving synchronous pulley, a driven synchronous pulley, and a synchronous belt. The driven synchronous pulley is rotatably mounted on the throat plate. The drive motor is mounted on the throat plate and connected to the driving synchronous pulley. The synchronous belt is annular and its inner side meshes with the driving synchronous pulley and the driven synchronous pulley. The synchronous belt connects to the throat block.

10. A robot, characterized in that It includes a fuselage, a head unit, and a neck movement structure as described in any one of claims 1-9, wherein the fixed base is disposed on the fuselage, and the head unit is disposed at the end of the elastic support member away from the fixed base.

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