Head structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a head structure and a robot, and solves the problem that the head structure cannot simultaneously meet pitching and swinging functions and the high anthropomorphic requirement. The head structure comprises a supporting assembly, a head body, a first driving assembly, a second driving assembly, a first connecting rod assembly and a second connecting rod assembly. The first driving assembly and the second driving assembly are connected in parallel to drive the head body to rotate around the first axis and the second axis relative to the robot body, and pitching and swinging of the head body are achieved. In other words, pitching and swinging of the head body can be achieved only through one supporting assembly, one first driving assembly, one second driving assembly, one first connecting rod assembly and one second connecting rod assembly, the structure is simple, the size is small, and the personification degree is high.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a head structure and a robot. Background Technology

[0002] The design of robot head structures has certain limitations. On the one hand, many existing robot head structures lack pitch and tilt functions, making the robots appear less flexible and natural when interacting with humans or performing complex tasks. On the other hand, although a few robot head structures do have pitch and tilt functions, these designs often require complex mechanical structures, such as multi-joint linkage mechanisms or multiple drive units, leading to increased complexity and size of the head structure, while reducing the anthropomorphic quality of the head.

[0003] Therefore, the head structure of robots in related technologies cannot simultaneously meet the requirements of pitch and tilt functions as well as high anthropomorphism. Utility Model Content

[0004] In view of this, embodiments of this application provide a head structure and a robot that solve the problem that the head structure cannot simultaneously meet the requirements of pitch and head tilt functions as well as high anthropomorphism.

[0005] In a first aspect, embodiments of this application provide a head structure applied to a robot. The robot includes a robot body and the head structure. The robot body has a first main body portion, a second main body portion, and a third main body portion connected sequentially. The head structure includes: a support assembly rotatably connected to the second main body portion about a first axis; a head body rotatably connected to the support assembly about a second axis, the second axis being perpendicular to the first axis; a first drive assembly including a first drive member and a first output member connected to each other. The first drive member is connected to the head body, and the first output member rotates about a third axis under the drive of the first drive member, the third axis being perpendicular to the second axis; and a second drive group. The device includes a second drive member and a second output member connected to each other. The second drive member is connected to the head body, and the second output member rotates about a fourth axis under the drive of the second drive member. The fourth axis is perpendicular to the second axis. A first linkage assembly has a first end movably connected to a first connecting portion of the first output member and a second end movably connected to the first body portion. The first connecting portion is located circumferentially along the third axis. A second linkage assembly has a first end movably connected to a second connecting portion of the second output member and a second end movably connected to the third body portion. The second connecting portion is located circumferentially along the fourth axis.

[0006] In some embodiments, the head structure further includes: a controller, which is communicatively connected to the first drive member and the second drive member respectively, to control the first drive member and the second drive member to drive the first output member and the second output member to rotate in the same direction, thereby achieving the pitch of the head structure; or, to control the first drive member and the second drive member to drive the first output member and the second output member to rotate in opposite directions, thereby achieving the left and right tilt of the head structure.

[0007] In some embodiments, the first link assembly includes: a first rod-shaped body; a first spherical bearing including a first bearing inner ring and a first bearing outer ring, the first bearing inner ring and the first bearing outer ring being spherically engaged, the first bearing inner ring being connected to the first connecting portion, and the first bearing outer ring being connected to the first rod-shaped body; a second spherical bearing including a second bearing inner ring and a second bearing outer ring, the second bearing inner ring and the second bearing outer ring being spherically engaged, the second bearing inner ring being connected to the first body portion, and the second bearing outer ring being connected to the first rod-shaped body; and / or, the second link assembly includes: a second rod-shaped body; a third spherical bearing including a third bearing inner ring and a third bearing outer ring, the third bearing inner ring and the third bearing outer ring being spherically engaged, the third bearing inner ring being connected to the second connecting portion, and the third bearing outer ring being connected to the second rod-shaped body; a fourth spherical bearing including a fourth bearing inner ring and a fourth bearing outer ring, the fourth bearing inner ring and the fourth bearing outer ring being spherically engaged, the fourth bearing inner ring being connected to the third body portion, and the fourth bearing outer ring being connected to the second rod-shaped body.

[0008] In some embodiments, the first axis and the second axis are coplanar.

[0009] In some embodiments, the head body has a receiving space and an opening connecting the receiving space to the outside. The support component, the first drive component, the second drive component, the first link component, and the second link component are all at least partially disposed in the receiving space. The first body portion, the second body portion, and the third body portion can all extend into the receiving space through the opening.

[0010] In some embodiments, the support assembly includes a first support portion and a second support portion disposed opposite to each other along the extension direction of the first axis, and a third support portion and a fourth support portion disposed opposite to each other along the extension direction of the second axis. The robot body further has a fourth main body portion disposed opposite to the second main body portion along the extension direction of the first axis. The first support portion and the second support portion are rotatably connected to the second main body portion and the fourth main body portion, respectively, about the first axis. The head body includes: a bottom component having the opening, the bottom component being rotatably connected to the third support portion and the fourth support portion about the second axis; a first side component. The assembly includes a bottom component connected to the bottom component, a first drive member and a second drive member respectively connected to the first side component; a second side component connected to the bottom component and disposed opposite to the first side component in the extension direction of the first axis; and a top component connected to the first side component and the second side component. The bottom component, the first side component, the second side component, and the top component enclose the receiving space, and the bottom component, the first side component, the second side component, and the top component are also configured to support components and / or cables in the head structure.

[0011] In some embodiments, the first driving component and the second driving component are arranged sequentially along the extension direction of the second axis, and the first main body, the second main body, and the third main body are arranged sequentially along the extension direction of the second axis; wherein, the bottom component has a first extension, the top component has a second extension, the first extension and the second extension both extend in the direction from the first driving component to the second driving component, the first extension includes a first arcuate structure, the second extension includes a second arcuate structure, and both the first arcuate structure and the second arcuate structure are curved toward the direction from the second driving component to the first driving component.

[0012] In some embodiments, the robot body has a first calibration hole extending along the extension direction of the first axis, and the support assembly has a second calibration hole extending along the extension direction of the first axis. During the relative rotation of the support assembly and the robot body, the centerline of the first calibration hole can be collinear with the centerline of the second calibration hole. When the centerline of the first calibration hole and the centerline of the second calibration hole are collinear, the head body is in a pitch zero position. And / or, the head body has a third calibration hole extending along the extension direction of the second axis, and the support assembly has a fourth calibration hole extending along the extension direction of the second axis. During the relative rotation of the head body and the support assembly, the centerline of the third calibration hole can be collinear with the centerline of the fourth calibration hole. When the centerline of the third calibration hole and the centerline of the fourth calibration hole are collinear, the head body is in a tilt zero position.

[0013] In some embodiments, the robot body has a first limiting portion and a second limiting portion, the orthographic projections of the first limiting portion and the second limiting portion on a plane perpendicular to the first axis are arranged circumferentially opposite to each other along the first axis. The support assembly has a third limiting portion and a fourth limiting portion, the orthographic projections of the third limiting portion and the fourth limiting portion on a plane perpendicular to the first axis are arranged circumferentially opposite to each other along the first axis. During the relative rotation of the support assembly and the robot body, the first limiting portion can abut against the third limiting portion, and the second limiting portion can abut against the fourth limiting portion. The head body has a fifth limiting portion and a sixth limiting portion, the orthographic projections of the fifth limiting portion and the sixth limiting portion on a plane perpendicular to the second axis are arranged opposite each other circumferentially along the second axis, and the support assembly has a seventh limiting portion and an eighth limiting portion, the orthographic projections of the seventh limiting portion and the eighth limiting portion on a plane perpendicular to the second axis are arranged opposite each other circumferentially along the second axis. During the relative rotation of the head body and the support assembly, the fifth limiting portion can abut against the seventh limiting portion, and the sixth limiting portion can abut against the eighth limiting portion.

[0014] Secondly, embodiments of this application provide a robot, including the head structure mentioned in the first aspect.

[0015] The head structure provided in this application includes a support component, a head body, a first drive component, a second drive component, a first link component, and a second link component. The first and second drive components are connected in parallel to drive the head body to rotate relative to the robot body around a first axis and a second axis, thereby achieving pitch and tilting of the head body.

[0016] In other words, this application can achieve the pitch and tilt of the head body using only one support component, one first drive component, one second drive component, one first link component and one second link component. The structure is simple, the size is small and the anthropomorphism is high. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain the application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same parts.

[0018] Figure 1 The diagram shown is a schematic diagram of the head structure provided in an embodiment of this application.

[0019] Figure 2 The diagram shown is a schematic diagram of the head structure provided in another embodiment of this application.

[0020] Figure 3 The image shown is a side view of a head structure provided in an embodiment of this application.

[0021] Figure 4 As shown Figure 2 A magnified view of the head structure in region A.

[0022] Figure 5 The diagram shown is a schematic diagram of the head structure provided in an embodiment of this application.

[0023] Figure 6 The diagram shown is a structural schematic of the head body, support components, and robot body provided in an embodiment of this application.

[0024] Figure 7 The image shown is a front view of the head body, support components, and robot body provided in an embodiment of this application.

[0025] Figure 8 As shown Figure 7 A cross-sectional view of the head body, support components, and robot body in the BB direction.

[0026] Figure 9 The image shown is a front view of a head structure provided in an embodiment of this application.

[0027] Figure 10 As shown Figure 9 A cross-sectional view of the head structure in the CC direction.

[0028] Figure 11 As shown Figure 10A magnified view of the head structure in region D.

[0029] Figure 12 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.

[0030] Figure label:

[0031] 1. Robot; 10. Head structure; 100. Support component; 101. Second calibration hole; 102. Fourth calibration hole; 110. First support part; 120. Second support part; 130. Third support part; 140. Fourth support part; 150. Third limiting part; 160. Fourth limiting part; 170. Seventh limiting part; 180. Eighth limiting part; 200. Head body; 201. Accommodation space; 202. Opening; 203. Third calibration hole; 2 10. Bottom component; 211. First extension; 2111. First arc-shaped structure; 220. First side component; 230. Second side component; 240. Top component; 241. Second extension; 2411. Second arc-shaped structure; 250. Fifth limiting part; 260. Sixth limiting part; 300. First drive assembly; 310. First drive member; 320. First output member; 321. First connecting part; 400. Second drive assembly; 410. Second drive component; 420. Second output component; 421. Second connecting part; 500. First connecting rod assembly; 510. First rod-shaped body; 520. First spherical bearing; 521. Inner ring of first bearing; 522. Outer ring of first bearing; 530. Second spherical bearing; 531. Inner ring of second bearing; 532. Outer ring of second bearing; 600. Second connecting rod assembly; 610. Second rod-shaped body; 620. Third spherical bearing; 621. Third bearing Inner ring; 622, outer ring of the third bearing; 630, fourth joint bearing; 631, inner ring of the fourth bearing; 632, outer ring of the fourth bearing; 700, controller; 20, robot body; 21, first main body part; 22, second main body part; 23, third main body part; 24, first calibration hole; 25, first limiting part; 26, second limiting part; 27, fourth main body part; L1, first axis; L2, second axis; L3, third axis; L4, fourth axis. Detailed Implementation

[0032] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0033] Figure 1The diagram shown is a schematic diagram of the head structure provided in an embodiment of this application. Figure 2 The diagram shown is a structural schematic of a head structure provided in another embodiment of this application. Figure 1 and Figure 2 As shown, the head structure 10 includes a support assembly 100, a head body 200, a first drive assembly 300, a second drive assembly 400, a first link assembly 500, and a second link assembly 600.

[0034] Figure 12 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 12 As shown, the head structure 10 is applied to robot 1, which includes a robot body 20 and the head structure 10. The robot body 20 has a first main body portion 21, a second main body portion 22, and a third main body portion 23 connected in sequence. Robot 1 can be a humanoid robot, a handling robot, a collaborative robot, or any robot that includes the head structure 10. The robot body 20 can be a combination of the torso structure and lower limb structure of robot 1, or a combination of the torso structure and chassis structure of robot 1, or other humanoid structures; this application does not specifically limit it.

[0035] like Figure 1 As shown, the support assembly 100 is rotatably connected to the second main body 22 about the first axis L1. Exemplarily, the support assembly 100 can be a combination of multiple parts or a single part. Exemplarily, the support assembly 100 can be a cross shaft.

[0036] like Figure 1 As shown, the head body 200 and the support assembly 100 are rotatably connected about a second axis L2. The second axis L2 is perpendicular to the first axis L1. Exemplarily, the head body 200 may include a support structure, and sensors, facial structures, etc., connected to the support structure.

[0037] like Figure 1 As shown, the first drive assembly 300 includes a first drive member 310 and a first output member 320 connected to each other. The first drive member 310 is connected to the head body 200, and the first output member 320 rotates around a third axis L3 under the drive of the first drive member 310. The third axis L3 is perpendicular to the second axis L2. Exemplarily, the first drive assembly 300 can be a motor, the first drive member 310 can be a drive structure of the motor, and the first output member 320 can be the output shaft of the motor. Exemplarily, the first drive assembly 300 can also be a rotary electric cylinder, etc.

[0038] like Figure 1As shown, the second drive assembly 400 includes a second drive member 410 and a second output member 420 connected to each other. The second drive member 410 is connected to the head body 200, and the second output member 420 rotates about a fourth axis L4 under the drive of the second drive member 410. The fourth axis L4 is perpendicular to the second axis L2. Exemplarily, the second drive assembly 400 can be a motor, the second drive member 410 can be a drive structure of the motor, and the second output member 420 can be the output shaft of the motor. Exemplarily, the second drive assembly 400 can also be a rotary electric cylinder, etc.

[0039] like Figure 1 As shown, the first end of the first linkage assembly 500 is movably connected to the first connecting portion 321 of the first output member 320, and the second end of the first linkage assembly 500 is movably connected to the first main body portion 21. The first connecting portion 321 is located in the circumferential direction of the third axis L3.

[0040] like Figure 1 As shown, the first end of the second linkage assembly 600 is movably connected to the second connecting portion 421 of the second output member 420, and the second end of the second linkage assembly 600 is movably connected to the third main body portion 23. The second connecting portion 421 is located circumferentially along the fourth axis L4.

[0041] For example, the aforementioned active connections can be achieved using fisheye bearings, universal joints, etc.

[0042] The head structure 10 provided in this embodiment utilizes a first drive assembly 300 and a second drive assembly 400 connected in parallel to drive the head body 200 to rotate relative to the robot body 20 around a first axis L1 and a second axis L2, thereby realizing the pitch and yaw of the head body 200. In other words, this application only uses a support assembly 100, a first drive assembly 300, a second drive assembly 400, a first link assembly 500, and a second link assembly 600 to realize the pitch and yaw of the head body 200, which is simple in structure, small in size, and highly anthropomorphic.

[0043] In some embodiments, such as Figure 2 As shown, the head structure 10 also includes a controller 700. The controller 700 is communicatively connected to the first drive member 310 and the second drive member 410, respectively, to control the first drive member 310 and the second drive member 410 to drive the first output member 320 and the second output member 420 to rotate in the same direction, thereby achieving the pitch of the head structure 10; or, to control the first drive member 310 and the second drive member 410 to drive the first output member 320 and the second output member 420 to rotate in opposite directions, thereby achieving the left and right tilt of the head structure 10.

[0044] Figure 3 The image shown is a side view of a head structure provided in an embodiment of this application. Exemplarily, as... Figure 3 As shown, the first driving member 310 and the second driving member 410 respectively drive the first output member 320 and the second output member 420 to rotate clockwise (e.g., Figure 3 As shown by the dashed arrow in the diagram, the head structure 10 can be tilted. For example, the first drive member 310 and the second drive member 410 can drive the first output member 320 and the second output member 420 to rotate counterclockwise, which can also achieve the tilting of the head structure 10.

[0045] For example, such as Figure 3 As shown, the first driving component 310 drives the first output component 320 to rotate clockwise (e.g., Figure 3 (As shown by the solid arrow in the image), the second driving element 410 drives the second output element 420 to rotate counterclockwise (as shown by the solid arrow in the image). Figure 3 (As shown by the solid arrow in the diagram), the head structure 10 can be made to swing left and right. For example, the first drive member 310 drives the first output member 320 to rotate counterclockwise, and the second drive member 410 drives the second output member 420 to rotate clockwise, which can also make the head structure 10 swing left and right.

[0046] In some embodiments, robot 1 includes a controller 700, which may be disposed on the torso structure of robot 1. Head structure 10 may not include controller 700. First drive member 310 and second drive member 410 are respectively communicatively connected to controller 700 of robot 1, so that controller 700 of robot 1 controls first drive member 310 and second drive member 410 to drive first output member 320 and second output member 420 to rotate in the same direction, thereby achieving pitch of head structure 10; or, controls first drive member 310 and second drive member 410 to drive first output member 320 and second output member 420 to rotate in opposite directions, thereby achieving left and right head swing of head structure 10.

[0047] Figure 4 As shown Figure 2 A magnified view of the head structure in region A. In some embodiments, such as Figure 4 As shown, the first link assembly 500 includes a first rod-shaped body 510, a first joint bearing 520, and a second joint bearing 530.

[0048] For example, the first rod-shaped body 510 can be a straight rod, or a bent rod, an irregularly shaped rod, or other structures.

[0049] like Figure 4As shown, the first spherical plain bearing 520 includes a first bearing inner ring 521 and a first bearing outer ring 522. The first bearing inner ring 521 and the first bearing outer ring 522 are spherically fitted. The first bearing inner ring 521 is connected to the first connecting portion 321. The first bearing outer ring 522 is connected to the first rod-shaped body 510. For example, the first spherical plain bearing 520 may be a fisheye bearing.

[0050] like Figure 4 As shown, the second spherical bearing 530 includes a second bearing inner ring 531 and a second bearing outer ring 532. The second bearing inner ring 531 and the second bearing outer ring 532 are spherically fitted. The second bearing inner ring 531 is connected to the first main body 21. The second bearing outer ring 532 is connected to the first rod-shaped main body 510. For example, the second spherical bearing 530 may be a fisheye bearing.

[0051] The inner ring 521 and outer ring 522 of the first bearing are spherically fitted, as are the inner ring 531 and outer ring 532 of the second bearing. This enables a movable connection between the first end of the first connecting rod assembly 500 and the first connecting portion 321 of the first output component 320, and a movable connection between the second end of the first connecting rod assembly 500 and the first main body 21. The spherical fit allows for multi-angle swinging between the inner and outer rings of the bearing, compensating for installation errors. Even if the mounting surface of the first connecting portion 321 and the mounting surface of the first main body 21 are not on the same plane, pitching and lateral tilting can still be achieved, reducing the installation difficulty of the first connecting rod assembly 500.

[0052] Specifically, the mounting surface of the first connecting portion 321 can be the surface of the first connecting portion 321 that is aligned with the end face of the first end of the first link assembly 500. The mounting surface of the first main body portion 21 can be the surface of the first main body portion 21 that is aligned with the end face of the second end of the first link assembly 500. In other words, when both the first axis L1 and the second axis L2 are in a horizontally extending state, pitch and lateral tilting can be achieved even if the first connecting portion 321 and the first main body portion 21 are not in the same vertical plane.

[0053] In some embodiments, such as Figure 4 As shown, the second link assembly 600 includes a second rod-shaped body 610, a third joint bearing 620, and a fourth joint bearing 630.

[0054] For example, the second rod-shaped body 610 can be a straight rod, or a bent rod, an irregularly shaped rod, or other structures.

[0055] like Figure 4As shown, the third spherical bearing 620 includes a third bearing inner ring 621 and a third bearing outer ring 622. The third bearing inner ring 621 and the third bearing outer ring 622 are spherically fitted. The third bearing inner ring 621 is connected to the second connecting portion 421, and the third bearing outer ring 622 is connected to the second rod-shaped body 610. For example, the third spherical bearing 620 may be a fisheye bearing.

[0056] like Figure 4 As shown, the fourth spherical bearing 630 includes an inner ring 631 and an outer ring 632. The inner ring 631 and the outer ring 632 are spherically fitted. The inner ring 631 is connected to the third main body 23, and the outer ring 632 is connected to the second rod-shaped main body 610. For example, the fourth spherical bearing 630 may be a fisheye bearing.

[0057] The inner ring 621 and outer ring 622 of the third bearing are spherically fitted, as are the inner ring 631 and outer ring 632 of the fourth bearing. This enables a movable connection between the first end of the second connecting rod assembly 600 and the second connecting portion 421 of the second output component 420, and a movable connection between the second end of the second connecting rod assembly 600 and the third main body 23. The spherical fit allows for multi-angle swinging between the inner and outer rings of the bearing, compensating for installation errors. Even if the mounting surface of the second connecting portion 421 and the mounting surface of the third main body 23 are not on the same plane, pitch and lateral tilting can still be achieved, reducing the installation difficulty of the second connecting rod assembly 600.

[0058] Specifically, the mounting surface of the second connecting portion 421 can be the surface of the second connecting portion 421 that is aligned with the end face of the first end of the second link assembly 600. The mounting surface of the third main body portion 23 can be the surface of the third main body portion 23 that is aligned with the end face of the second end of the second link assembly 600. In other words, when both the first axis L1 and the second axis L2 are in a horizontally extending state, pitch and lateral tilt can be achieved even if the second connecting portion 421 and the third main body portion 23 are not in the same vertical plane.

[0059] In some embodiments, the first axis L1 and the second axis L2 are coplanar, thereby allowing the support assembly 100 to be designed to be smaller in the direction perpendicular to both the first axis L1 and the second axis L2, thus reducing the size of the support assembly 100 and further reducing the size of the head structure 10.

[0060] In addition, the fact that the first axis L1 and the second axis L2 are coplanar allows the head body 200 to rotate around the intersection of the first axis L1 and the second axis L2 when pitching and swaying, further improving the anthropomorphism of the head structure 10.

[0061] Figure 5The diagram shown is a schematic diagram of the head structure provided in an embodiment of this application. Figure 6 The diagram shown is a structural schematic of the head body, support components, and robot body provided in one embodiment of this application. In some embodiments, such as Figure 5 and Figure 6 As shown, the head body 200 has a receiving space 201 and an opening 202 connecting the receiving space 201 to the outside. The support assembly 100, the first drive assembly 300, the second drive assembly 400, the first link assembly 500, and the second link assembly 600 are all at least partially disposed in the receiving space 201. The first main body portion 21, the second main body portion 22, and the third main body portion 23 can all extend into the receiving space 201 through the opening 202.

[0062] By placing the support assembly 100, the first drive assembly 300, the second drive assembly 400, the first link assembly 500, and the second link assembly 600 in the receiving space 201, the transmission structures such as the support assembly 100, the first drive assembly 300, the second drive assembly 400, the first link assembly 500, and the second link assembly 600 are protected. At the same time, the external frame of the head body 200 forming the receiving space 201 can be used to support the components and cables of the head structure 10.

[0063] Figure 7 The image shown is a front view of the head body, support components, and robot body provided in an embodiment of this application. Figure 8 As shown Figure 7 A cross-sectional view of the head body, support components, and robot body in the BB direction. In some embodiments, such as Figure 7 and Figure 8 As shown, the support assembly 100 includes a first support portion 110 and a second support portion 120 disposed opposite each other along the extension direction of the first axis L1, and a third support portion 130 and a fourth support portion 140 disposed opposite each other along the extension direction of the second axis L2. The robot body 20 also has a fourth body portion 27 disposed opposite to the second body portion 22 along the extension direction of the first axis L1. The first support portion 110 and the second support portion 120 are rotatably connected to the second body portion 22 and the fourth body portion 27, respectively, about the first axis L1.

[0064] like Figures 5 to 8 As shown, the head body 200 includes a bottom component 210, a first side component 220, a second side component 230, and a top component 240.

[0065] The bottom component 210 has an opening 202 and is rotatably connected to the third support portion 130 and the fourth support portion 140 about the second axis L2. A first side component 220 is connected to the bottom component 210, and a first drive member 310 and a second drive member 410 are respectively connected to the first side component 220. A second side component 230 is connected to the bottom component 210 and is disposed opposite to the first side component 220 in the extending direction of the first axis L1. A top component 240 is connected to the first side component 220 and the second side component 230.

[0066] The bottom component 210, the first side component 220, the second side component 230, and the top component 240 enclose a receiving space 201. The bottom component 210, the first side component 220, the second side component 230, and the top component 240 are also configured to support components and / or cables in the head structure 10, so that components and cables of the head structure 10 can be provided on the top, bottom, and both sides of the head body 200.

[0067] In some embodiments, such as Figure 1 As shown, the first drive assembly 300 and the second drive assembly 400 are arranged sequentially along the extension direction of the second axis L2. Figure 8 As shown, the first main body 21, the second main body 22 and the third main body 23 are arranged sequentially along the extension direction of the second axis L2.

[0068] like Figure 5 and Figure 6 As shown, the bottom component 210 has a first extension 211, and the top component 240 has a second extension 241. Both the first extension 211 and the second extension 241 extend in the direction from the first drive assembly 300 to the second drive assembly 400. The first extension 211 includes a first arcuate structure 2111, and the second extension 241 includes a second arcuate structure 2411. Both the first arcuate structure 2111 and the second arcuate structure 2411 bend toward the direction from the second drive assembly 400 to the first drive assembly 300, which facilitates the installation of an arcuate facial structure on the first arcuate structure 2111 and the second arcuate structure 2411, further improving the anthropomorphism of the head structure 10.

[0069] Figure 9 The image shown is a front view of a head structure provided in an embodiment of this application. Figure 10 As shown Figure 9 A cross-sectional view of the head structure in the CC direction. Figure 11 As shown Figure 10 A magnified view of the head structure in region D. In some embodiments, such as Figures 9 to 11As shown, the robot body 20 has a first calibration hole 24 extending along the extension direction of the first axis L1, and the support assembly 100 has a second calibration hole 101 extending along the extension direction of the first axis L1. During the relative rotation of the support assembly 100 and the robot body 20, the center line of the first calibration hole 24 can be collinear with the center line of the second calibration hole 101. When the center line of the first calibration hole 24 and the center line of the second calibration hole 101 are collinear, the head body 200 is in the pitch zero position.

[0070] For example, the head body 200 being in a pitch zero position can be considered as the head body 200 not pitching relative to the robot body 20.

[0071] For example, during the relative rotation of the support component 100 and the robot body 20, a calibration pin can be inserted into the first calibration hole 24 and the second calibration hole 101 so that the center line of the first calibration hole 24 can be collinear with the center line of the second calibration hole 101.

[0072] The pitch zero position calibration of the head structure 10 is achieved by using the first calibration hole 24 and the second calibration hole 101. The calibration structure is simple, reliable, and easy to operate.

[0073] In some embodiments, such as Figures 9 to 11 As shown, the head body 200 has a third calibration hole 203 extending along the extension direction of the second axis L2, and the support assembly 100 has a fourth calibration hole 102 extending along the extension direction of the second axis L2. During the relative rotation of the head body 200 and the support assembly 100, the center line of the third calibration hole 203 can be collinear with the center line of the fourth calibration hole 102. When the center line of the third calibration hole 203 and the center line of the fourth calibration hole 102 are collinear, the head body 200 is in the zero-position swing state.

[0074] For example, the head body 200 being in the zero-swing state can be considered as the head body 200 not swinging relative to the robot body 20.

[0075] For example, the head body 200 is simultaneously in the pitch zero position and the head swing zero position, which can be considered as the head body 200 neither pitching nor swinging relative to the robot body 20, that is, the head body 200 is facing directly in front of the robot 1.

[0076] For example, during the relative rotation of the head body 200 and the support assembly 100, a calibration pin can be inserted into the third calibration hole 203 and the fourth calibration hole 102 so that the center line of the third calibration hole 203 is collinear with the center line of the fourth calibration hole 102.

[0077] The zero-position calibration of the head structure 10 is achieved by using the third calibration hole 203 and the fourth calibration hole 102. The calibration structure is simple, reliable and easy to operate.

[0078] In some embodiments, such as Figure 11 As shown, the robot body 20 has a first limiting part 25 and a second limiting part 26. The orthographic projections of the first limiting part 25 and the second limiting part 26 on a plane perpendicular to the first axis L1 are arranged opposite each other along the circumference of the first axis L1. The support assembly 100 has a third limiting part 150 and a fourth limiting part 160. The orthographic projections of the third limiting part 150 and the fourth limiting part 160 on a plane perpendicular to the first axis L1 are arranged opposite each other along the circumference of the first axis L1. During the relative rotation of the support assembly 100 and the robot body 20, the first limiting part 25 can abut against the third limiting part 150, and the second limiting part 26 can abut against the fourth limiting part 160. That is, the abutment achieves mechanical limitation on the relative rotation of the support assembly 100 and the robot body 20, preventing the relative rotation angle of the support assembly 100 and the robot body 20 from being too large.

[0079] For example, such as Figure 11 As shown, the support assembly 100 may include two protrusions extending along the extension direction of the first axis L1, with a third limiting portion 150 and a fourth limiting portion 160 located on opposite surfaces of the two protrusions, respectively. The robot body 20 may include a protrusion extending along the extension direction of the first axis L1, with a first limiting portion 25 and a second limiting portion 26 located on the protrusion.

[0080] For example, the support component 100 may include an arcuate groove extending circumferentially along the first axis L1, with a third limiting portion 150 and a fourth limiting portion 160 located at both ends of the arcuate groove. The robot body 20 may include a protrusion extending along the extension direction of the first axis L1, with a first limiting portion 25 and a second limiting portion 26 located on the protrusion.

[0081] In some embodiments, such as Figure 11As shown, the head body 200 has a fifth limiting portion 250 and a sixth limiting portion 260, whose orthographic projections on a plane perpendicular to the second axis L2 are arranged opposite each other circumferentially along the second axis L2. The support assembly 100 has a seventh limiting portion 170 and an eighth limiting portion 180, whose orthographic projections on a plane perpendicular to the second axis L2 are arranged opposite each other circumferentially along the second axis L2. During the relative rotation of the head body 200 and the support assembly 100, the fifth limiting portion 250 can abut against the seventh limiting portion 170, and the sixth limiting portion 260 can abut against the eighth limiting portion 180. That is, the abutment achieves mechanical limitation on the relative rotation of the head body 200 and the support assembly 100, preventing the relative rotation angle of the head body 200 and the support assembly 100 from being too large.

[0082] For example, such as Figure 11 As shown, the support assembly 100 may include two protrusions extending along the extension direction of the second axis L2, with a seventh limiting portion 170 and an eighth limiting portion 180 located on opposite surfaces of the two protrusions, respectively. The head body 200 may include a protrusion extending along the extension direction of the second axis L2, with a fifth limiting portion 250 and a sixth limiting portion 260 located on the protrusion.

[0083] For example, the head body 200 may include an arcuate groove extending circumferentially along the second axis L2, with a fifth limiting portion 250 and a sixth limiting portion 260 located at both ends of the arcuate groove. The support assembly 100 may include a protrusion extending in the extending direction along the second axis L2, with a seventh limiting portion 170 and an eighth limiting portion 180 located on the protrusion.

[0084] Figure 12 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 12 As shown, robot 1 includes the head structure 10 provided in the above embodiment. Robot 1 may also include a robot body 20, with the head structure 10 connected to the robot body 20.

[0085] Since robot 1 includes head structure 10, robot 1 possesses all the technical features and effects of head structure 10, which will not be elaborated here.

[0086] The terms "an embodiment" or "embodiment" used in this specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Additionally, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0087] It should be understood that “on,” “above,” and “on top of” in this disclosure should be interpreted in the broadest manner, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on top of something” but also “on top of something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0088] Furthermore, for ease of explanation, spatial relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of a component or feature relative to other components or features as shown in the figures. Spatial relative terms are intended to encompass different orientations of components in use or operation other than those shown in the figures. Devices may have other orientations (rotated 90 degrees or in other orientations), and the spatial relative descriptive terms used herein may be interpreted accordingly.

[0089] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0090] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications or equivalent substitutions made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A head structure, characterized in that, Applied to a robot, the robot includes a robot body and the head structure, the robot body having a first main body portion, a second main body portion, and a third main body portion connected in sequence, and the head structure including: A support assembly is rotatably connected to the second main body about a first axis; The head body is rotatably connected to the support assembly about a second axis, which is perpendicular to the first axis. The first drive assembly includes a first drive member and a first output member connected to each other. The first drive member is connected to the head body, and the first output member rotates about a third axis under the drive of the first drive member. The third axis is perpendicular to the second axis. The second drive assembly includes a second drive member and a second output member connected to each other. The second drive member is connected to the head body, and the second output member rotates about a fourth axis under the drive of the second drive member. The fourth axis is perpendicular to the second axis. A first linkage assembly, wherein a first end of the first linkage assembly is movably connected to a first connecting portion of the first output component, and a second end of the first linkage assembly is movably connected to the first main body portion, and the first connecting portion is located in the circumferential direction of the third axis; The second linkage assembly has a first end movably connected to the second connecting portion of the second output member, and a second end movably connected to the third main body. The second connecting portion is located circumferentially on the fourth axis.

2. The head structure according to claim 1, characterized in that, Also includes: The controller is communicatively connected to the first drive and the second drive respectively, so as to control the first drive and the second drive to drive the first output and the second output to rotate in the same direction to realize the pitch of the head structure, or to control the first drive and the second drive to drive the first output and the second output to rotate in opposite directions to realize the left and right tilt of the head structure.

3. The head structure according to claim 1, characterized in that, The first link assembly includes: First rod-shaped main body; The first spherical bearing includes a first bearing inner ring and a first bearing outer ring, the first bearing inner ring and the first bearing outer ring are spherically mated, the first bearing inner ring is connected to the first connecting part, and the first bearing outer ring is connected to the first rod-shaped body. The second spherical bearing includes a second bearing inner ring and a second bearing outer ring, the second bearing inner ring and the second bearing outer ring are spherically fitted, the second bearing inner ring is connected to the first main body, and the second bearing outer ring is connected to the first rod-shaped main body; And / or, The second link assembly includes: Second rod-shaped main body; The third joint bearing includes a third bearing inner ring and a third bearing outer ring, wherein the third bearing inner ring and the third bearing outer ring are spherically fitted, the third bearing inner ring is connected to the second connecting part, and the third bearing outer ring is connected to the second rod-shaped body; The fourth joint bearing includes a fourth bearing inner ring and a fourth bearing outer ring, the fourth bearing inner ring and the fourth bearing outer ring are spherically fitted, the fourth bearing inner ring is connected to the third main body, and the fourth bearing outer ring is connected to the second rod-shaped main body.

4. The head structure according to claim 1, characterized in that, The first axis and the second axis are coplanar.

5. The head structure according to any one of claims 1 to 4, characterized in that, The head body has a receiving space and an opening connecting the receiving space to the outside. The support component, the first drive component, the second drive component, the first link component, and the second link component are all at least partially disposed in the receiving space. The first main body, the second main body, and the third main body can all extend into the receiving space through the opening.

6. The head structure according to claim 5, characterized in that, The support assembly includes a first support portion and a second support portion disposed opposite to each other along the extension direction of the first axis, and a third support portion and a fourth support portion disposed opposite to each other along the extension direction of the second axis. The robot body also has a fourth main body portion disposed opposite to the second main body portion along the extension direction of the first axis. The first support portion and the second support portion are rotatably connected to the second main body portion and the fourth main body portion, respectively, about the first axis. The head body includes: The bottom component has the opening, and the bottom component is rotatably connected to the third support portion and the fourth support portion about the second axis. A first side component is connected to the bottom component, and the first drive component and the second drive component are respectively connected to the first side component; The second side component is connected to the bottom component and is disposed opposite to the first side component in the extension direction of the first axis. The top component is connected to the first side component and the second side component; The bottom component, the first side component, the second side component, and the top component enclose the receiving space, and the bottom component, the first side component, the second side component, and the top component are also configured to support components and / or cables in the head structure.

7. The head structure according to claim 6, characterized in that, The first driving component and the second driving component are arranged sequentially along the extension direction of the second axis, and the first main body, the second main body and the third main body are arranged sequentially along the extension direction of the second axis. The bottom component has a first extension and the top component has a second extension. Both the first extension and the second extension extend in the direction from the first drive component to the second drive component. The first extension includes a first arcuate structure and the second extension includes a second arcuate structure. Both the first arcuate structure and the second arcuate structure are curved toward the direction from the second drive component to the first drive component.

8. The head structure according to any one of claims 1 to 4, characterized in that, The robot body has a first calibration hole extending along the extension direction of the first axis, and the support assembly has a second calibration hole extending along the extension direction of the first axis. During the relative rotation of the support assembly and the robot body, the center line of the first calibration hole can be collinear with the center line of the second calibration hole. When the center line of the first calibration hole and the center line of the second calibration hole are collinear, the head body is in a pitch zero position. And / or, The head body has a third calibration hole extending along the extension direction of the second axis, and the support assembly has a fourth calibration hole extending along the extension direction of the second axis. During the relative rotation of the head body and the support assembly, the center line of the third calibration hole can be collinear with the center line of the fourth calibration hole. When the center line of the third calibration hole and the center line of the fourth calibration hole are collinear, the head body is in the zero-position swing state.

9. The head structure according to any one of claims 1 to 4, characterized in that, The robot body has a first limiting part and a second limiting part. The orthographic projections of the first limiting part and the second limiting part on a plane perpendicular to the first axis are arranged opposite each other along the circumference of the first axis. The support assembly has a third limiting part and a fourth limiting part. The orthographic projections of the third limiting part and the fourth limiting part on a plane perpendicular to the first axis are arranged opposite each other along the circumference of the first axis. During the relative rotation of the support assembly and the robot body, the first limiting part can abut against the third limiting part, and the second limiting part can abut against the fourth limiting part. And / or, The head body has a fifth limiting part and a sixth limiting part. The orthographic projections of the fifth limiting part and the sixth limiting part on a plane perpendicular to the second axis are arranged opposite each other circumferentially along the second axis. The support assembly has a seventh limiting part and an eighth limiting part. The orthographic projections of the seventh limiting part and the eighth limiting part on a plane perpendicular to the second axis are arranged opposite each other circumferentially along the second axis. During the relative rotation of the head body and the support assembly, the fifth limiting part can abut against the seventh limiting part, and the sixth limiting part can abut against the eighth limiting part.

10. A robot, characterized in that, include: The head structure according to any one of claims 1 to 9.

Images