Head structure and robot
By combining the pitch drive assembly, head swing drive assembly, and linkage assembly, the problem that the robot's head structure cannot simultaneously achieve pitch and head swing was solved, resulting in a simple and compact head structure design that improves the anthropomorphism.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- AGIBOT INNOVATION (SHANGHAI) TECHNOLOGY CO LTD
- Filing Date
- 2025-06-27
- Publication Date
- 2026-05-19
AI Technical Summary
Existing robot head structures cannot simultaneously achieve pitch and tilt functions, and the complex mechanical structure increases the size of the head and reduces its anthropomorphic appearance.
The design employs a combination of pitch drive components, head swing drive components, and linkage components. The pitch and head swing drive components respectively enable the pitch and head swing of the head, while the linkage component connects the pitch output component and the head swing drive component, simplifying the structure and improving the anthropomorphism.
It achieves head tilting and turning functions, has a simple structure and small size, improves the anthropomorphism, and reduces the difficulty and complexity of installation.
Smart Images
Figure CN224255347U_ABST
Abstract
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 connected to each other. The head structure includes: a head body; a pitch drive assembly including a pitch drive member and a pitch output member connected to each other, the pitch drive member being connected to the head body, and the pitch output member rotating about a first axis under the drive of the pitch drive member; a head swing drive assembly including a head swing drive member and a head swing output member connected to each other, the head swing drive member being rotatably connected to the head body about a second axis, the second axis being parallel to the first axis, the head swing output member being connected to the robot body, and the head swing output member rotating about a third axis under the drive of the head swing drive member, the third axis being perpendicular to the second axis; and a linkage assembly, the first end of the linkage assembly being movably connected to a first connecting portion of the pitch output member, the second end of the linkage assembly being movably connected to a second connecting portion of the head swing drive member, the first connecting portion being located circumferentially along the first axis, and the second connecting portion being located circumferentially along the second axis.
[0006] In some embodiments, the connecting rod assembly includes: a 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 fitted, the first bearing inner ring being connected to the first connecting portion, and the first bearing outer ring being connected to the rod-shaped body; and 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 fitted, the second bearing inner ring being connected to the second connecting portion, and the second bearing outer ring being connected to the rod-shaped body.
[0007] In some embodiments, the head body includes: a first component, one side of the head-swinging drive member being rotatably connected to the first component about a second axis; a second component, disposed opposite to the first component, and the first component and the second component being symmetrically disposed with respect to the head-swinging drive member, the other side of the head-swinging drive member being rotatably connected to the second component about a second axis; and a third component, connecting the first component and the second component.
[0008] In some embodiments, the third component has a receiving space, and the pitch drive is disposed in the receiving space.
[0009] In some embodiments, the head body further includes: a first support member connected to the third component; a second support member connected to the third component, wherein the first support member and the second support member are respectively located on both sides of the third component in a first direction, the first direction being parallel to the third axis; and a third support member connected to the first component and / or the second component, wherein the third support member and the second support member are spaced apart in a second direction, the second direction being perpendicular to the first direction and perpendicular to the second axis; wherein the first support member, the second support member, and the third support member are all configured to support components and / or cables in the head structure.
[0010] In some embodiments, the first support member includes a first U-shaped structure, the middle portion of which is connected to the third component, and the two ends of which extend along the first direction to both sides of the third component; and / or, the third support member includes a second U-shaped structure, both ends of which extend along the first direction and are connected to the first component and the second component, respectively.
[0011] In some embodiments, the pitch output member has a first calibration hole extending along the extension direction of the first axis, and the head body has a second calibration hole extending along the extension direction of the first axis. During the relative rotation of the pitch output member and the head 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 oscillation output member has a third calibration hole extending along the extension direction of the third axis, and the oscillation drive member has a fourth calibration hole extending along the extension direction of the third axis. During the relative rotation of the oscillation output member and the oscillation drive member, 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 a oscillation zero position.
[0012] In some embodiments, the pitch output member has a first limiting portion and a second limiting portion arranged circumferentially opposite to each other along the first axis, and the head body has a third limiting portion and a fourth limiting portion arranged circumferentially opposite to each other along the first axis. During the relative rotation of the pitch output member and the head body, the first limiting portion can abut against the third limiting portion, and the second limiting portion can abut against the fourth limiting portion; and / or, the head swing output member has a fifth limiting portion and a sixth limiting portion arranged circumferentially opposite to each other along the third axis, and the head swing drive member has a seventh limiting portion and an eighth limiting portion arranged circumferentially opposite to each other along the third axis. During the relative rotation of the head swing output member and the head swing drive member, the fifth limiting portion can abut against the seventh limiting portion, and the sixth limiting portion can abut against the eighth limiting portion.
[0013] In some embodiments, the head-swinging drive includes: a head-swinging drive, the head-swinging drive including an elongated structure; a head-swinging mounting base, the head-swinging mounting base including an annular structure, the annular structure being fitted onto the elongated structure, a second connecting portion being connected to the outer side of the annular structure, the outer side of the annular structure also being provided with a third connecting portion, and the head body being rotatably connected to the third connecting portion around the second axis.
[0014] Secondly, embodiments of this application provide a robot, including the head structure mentioned in the third aspect.
[0015] The head structure provided in this application includes a head body, a pitch drive assembly, a sway drive assembly, and a linkage assembly. The sway drive assembly includes a sway drive component and a sway output component connected to each other. The sway drive component is rotatably connected to the head body about a second axis, and the sway output component is connected to the robot body. The sway output component rotates about a third axis under the drive of the sway drive component. Since the sway output component is fixed to the robot body, the sway drive component can rotate relative to the sway output component about the third axis, causing the sway drive component to drive the head body to sway about the third axis, thus realizing the swaying of the head body.
[0016] The pitch drive assembly includes a pitch drive component and a pitch output component connected to each other. The pitch drive component is connected to the head body. The first end of the linkage assembly is movably connected to the first connecting part of the pitch output component, and the second end of the linkage assembly is movably connected to the second connecting part of the head swing drive component. The head swing drive component is rotatably connected to the head body about a second axis. The pitch output component rotates about a first axis under the drive of the pitch drive component, so that the pitch drive component drives the head body to rotate about the second axis, thereby realizing the pitch of the head body.
[0017] In other words, this application can realize two active degrees of freedom of the head body, namely swing and pitch, by using a pitch drive component, a head swing drive component and a linkage component. The structure is simple and small in size, which improves the anthropomorphism of the head structure. Attached Figure Description
[0018] 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.
[0019] Figure 1 The diagram shown is a schematic diagram of the head structure provided in an embodiment of this application.
[0020] Figure 2 The image shown is a side view of a head structure provided in an embodiment of this application.
[0021] Figure 3 As shown Figure 2 A cross-sectional view of the head structure along the AA direction.
[0022] Figure 4 As shown Figure 2 A cross-sectional view of the head structure in the BB direction.
[0023] Figure 5As shown Figure 1 A magnified view of the head structure in region C.
[0024] Figure 6 As shown Figure 1 A magnified view of the head structure in region D.
[0025] Figure 7 The diagram shown is a structural schematic of the head body provided in an embodiment of this application.
[0026] Figure 8 As shown Figure 2 A cross-sectional view of the head structure in the EE direction.
[0027] Figure 9 As shown Figure 8 A magnified view of the head structure in region F.
[0028] Figure 10 The image shown is a front view of a head structure provided in an embodiment of this application.
[0029] Figure 11 As shown Figure 10 A cross-sectional view of the head structure in the GG direction.
[0030] Figure 12 As shown Figure 11 A magnified view of the head structure in region H.
[0031] Figure 13 The diagram shown is a schematic diagram of the head structure provided in another embodiment of this application.
[0032] Figure 14 As shown Figure 13 A magnified view of the head structure in region J.
[0033] Figure 15 The diagram shown is a structural schematic of a robot provided in one embodiment of this application.
[0034] Figure label:
[0035] 1. Robot; 10. Head structure; 100. Head body; 110. First component; 120. Second component; 130. Third component; 131. Accommodation space; 140. Second calibration hole; 150. Third limiting part; 160. Fourth limiting part; 200. Pitch drive assembly; 210. Pitch drive component; 220. Pitch output component; 221. First connecting part; 222. First calibration hole; 223. First limiting part; 224. Second limiting part; 300. Head swing drive assembly; 310. Head swing drive component; 311. Second connecting part; 312. Fourth calibration hole; 313. Seventh limiting part; 314. Eighth limiting part; 315. Head swing drive; 3151. Long strip structure; 316. Head swing mounting Mounting base; 3161, ring structure; 3162, third connecting part; 320, swing head output component; 321, third calibration hole; 322, fifth limiting part; 323, sixth limiting part; 400, connecting rod assembly; 410, rod-shaped main body; 420, first joint bearing; 421, inner ring of the first bearing; 422, outer ring of the first bearing; 430, second joint bearing; 431, inner ring of the second joint bearing; 432, outer ring of the second joint bearing; 510, first support member; 511, first U-shaped structure; 520, second support member; 530, third support member; 531, second U-shaped structure; 20, robot body; L1, first axis; L2, second axis; L3, third axis; X, first direction; Y, second direction. Detailed Implementation
[0036] 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.
[0037] Figure 1 The diagram shown is a schematic diagram of the head structure provided in an embodiment of this application. Figure 2 The image shown is a side view of a head structure provided in an embodiment of this application. Figure 3 As shown Figure 2 A cross-sectional view of the head structure along the AA direction. Figure 4 As shown Figure 2 A cross-sectional view of the head structure in the BB direction. (See attached image.) Figures 1 to 4 As shown, the head structure 10 includes a head body 100, a pitch drive assembly 200, a yaw drive assembly 300, and a linkage assembly 400.
[0038] Figure 15 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 15As shown, the head structure 10 is applied to robot 1, which includes a robot body 20 and the head structure 10 connected to each other. Robot 1 can be a humanoid robot, a handling robot, a collaborative robot, or any other robot that includes a head structure. The robot body 20 can be a combination of the robot's torso structure and lower limb structure, or a combination of the robot's torso structure and chassis structure, or other humanoid structures; this application does not make any specific limitations.
[0039] For example, the head body 100 may include a support structure, and sensors, facial structures, etc. connected to the support structure.
[0040] like Figure 3 As shown, the pitch drive assembly 200 includes a pitch drive component 210 and a pitch output component 220 connected to each other. The pitch drive component 210 is connected to the head body 100, and the pitch output component 220 rotates about a first axis L1 under the drive of the pitch drive component 210. Exemplarily, the pitch drive assembly 200 can be a motor, the pitch drive component 210 can be a drive structure of the motor, and the pitch output component 220 can be the output shaft of the motor.
[0041] like Figure 4 As shown, the head-swinging drive assembly 300 includes a head-swinging drive component 310 and a head-swinging output component 320 connected to each other. The head-swinging drive component 310 is rotatably connected to the head body 100 about a second axis L2. The head-swinging output component 320 is connected to the robot body 20 and rotates about a third axis L3 under the drive of the head-swinging drive component 310. The second axis L2 is parallel to the first axis L1. The third axis L3 is perpendicular to the second axis L2. Exemplarily, the head-swinging drive assembly 300 can be a motor, the head-swinging drive component 310 can be a drive structure of the motor, and the head-swinging output component 320 can be the output shaft of the motor.
[0042] Figure 5 As shown Figure 1 A magnified view of the head structure in region C. Figure 6 As shown Figure 1 A magnified view of the head structure in region D. (See attached image.) Figure 1 , Figure 5 and Figure 6 As shown, the first end of the linkage assembly 400 is movably connected to the first connecting part 221 of the pitch output component 220, and the second end of the linkage assembly 400 is movably connected to the second connecting part 311 of the oscillating head drive component 310. The first connecting part 221 is located in the circumferential direction of the first axis L1, and the second connecting part 311 is located in the circumferential direction of the second axis L2.
[0043] In summary, the head-swinging drive assembly 300 includes a head-swinging drive component 310 and a head-swinging output component 320 connected to each other. The head-swinging drive component 310 is rotatably connected to the head body 100 about the second axis L2. The head-swinging output component 320 is connected to the robot body 20 and rotates about the third axis L3 under the drive of the head-swinging drive component 310. Since the head-swinging output component 320 is fixed to the robot body 20, the head-swinging drive component 310 can rotate about the third axis L3 relative to the head-swinging output component 320, causing the head-swinging drive component 310 to drive the head body 100 to swing about the third axis L3, thus realizing the swinging of the head body 100.
[0044] The pitch drive assembly 200 includes a pitch drive component 210 and a pitch output component 220 connected to each other. The pitch drive component 210 is connected to the head body 100. A first end of the linkage assembly 400 is movably connected to a first connecting portion 221 of the pitch output component 220, and a second end of the linkage assembly 400 is movably connected to a second connecting portion 311 of the head tilt drive component 310. The head tilt drive component 310 is rotatably connected to the head body 100 about a second axis L2. Driven by the pitch drive component 210, the pitch output component 220 rotates about a first axis L1, causing the pitch drive component 210 to drive the head body 100 to rotate about the second axis L2, thus achieving the pitch of the head body 100.
[0045] In other words, this application can realize the two active degrees of freedom of the head body 100, namely swing and pitch, by using a pitch drive component 200, a head swing drive component 300 and a linkage component 400. The structure is simple and the size is small, which improves the anthropomorphism of the head structure 10.
[0046] In some embodiments, such as Figure 5 and Figure 6 As shown, the connecting rod assembly 400 includes a rod-shaped body 410, a first joint bearing 420, and a second joint bearing 430.
[0047] For example, the rod-shaped body 410 can be a straight rod, or a bent rod, an irregularly shaped rod, or other structures.
[0048] like Figure 5 As shown, the first spherical bearing 420 includes a first bearing inner ring 421 and a first bearing outer ring 422. The first bearing inner ring 421 and the first bearing outer ring 422 are spherically fitted. The first bearing inner ring 421 is connected to the first connecting portion 221, and the first bearing outer ring 422 is connected to the rod-shaped body 410. For example, the first spherical bearing 420 may be a fisheye bearing.
[0049] like Figure 6As shown, the second spherical bearing 430 includes a second bearing inner ring 431 and a second bearing outer ring 432. The second bearing inner ring 431 and the second bearing outer ring 432 are spherically fitted. The second bearing inner ring 431 is connected to the second connecting portion 311, and the second bearing outer ring 432 is connected to the rod-shaped body 410. For example, the second spherical bearing 430 may be a fisheye bearing.
[0050] The inner ring 421 and outer ring 422 of the first bearing are spherically fitted, as are the inner ring 431 and outer ring 432 of the second bearing. This enables the first end of the connecting rod assembly 400 to be movably connected to the first connecting portion 221 of the pitch output component 220, and the second end of the connecting rod assembly 400 to the second connecting portion 311 of the oscillating head drive component 310. The spherical fit allows for multi-angle oscillation between the inner and outer rings of the bearing, compensating for installation errors. Even if the mounting surfaces of the first connecting portion 221 and the second connecting portion 311 are not on the same plane, pitch can still be achieved, reducing the installation difficulty of the connecting rod assembly 400.
[0051] Specifically, the mounting surface of the first connecting portion 221 can be the surface of the first connecting portion 221 that is aligned with the end face of the first end of the link assembly 400. The mounting surface of the second connecting portion 311 can be the surface of the second connecting portion 311 that is aligned with the end face of the second end of the link assembly 400. In other words, when both the first axis L1 and the third axis L3 are in a horizontally extending state, pitch can be achieved even if the first connecting portion 221 and the second connecting portion 311 are not in the same vertical plane.
[0052] Figure 7 The diagram shown is a structural schematic of a head body provided in one embodiment of this application. In some embodiments, such as Figure 7 As shown, the head body 100 includes a first component 110, a second component 120 and a third component 130.
[0053] like Figure 1 , Figure 4 and Figure 7 As shown, one side of the oscillating head drive 310 is rotatably connected to the first component 110 about the second axis L2.
[0054] The second component 120 is disposed opposite to the first component 110, and the first component 110 and the second component 120 are symmetrically disposed with respect to the head-swinging drive member 310. The other side of the head-swinging drive member 310 is rotatably connected to the second component 120 around the second axis L2.
[0055] The third component 130 connects the first component 110 and the second component 120.
[0056] The head-swinging drive member 310 supports both sides of the head body 100 (i.e., the first component 110 and the second component 120), improving the stability of the head body 100. In addition, the first component 110 and the second component 120 are symmetrically arranged with respect to the head-swinging drive member 310, improving the symmetry of the head structure 10 and thus enhancing the anthropomorphism of the head structure 10.
[0057] In some embodiments, such as Figure 3 and Figure 7 As shown, the third component 130 has a receiving space 131, and the pitch drive 210 is disposed in the receiving space 131. The first component 110 and the second component 120 are symmetrically arranged with respect to the head tilt drive 310. In other words, both the pitch drive 210 and the head tilt drive 310 are disposed inside the head body 100, making reasonable use of the internal space of the head body 100, resulting in a compact structure and small size, further improving the anthropomorphism of the head structure 10.
[0058] In addition, by placing the pitch drive 210 in the receiving space 131, there is no need to set up an additional mounting base for the pitch drive 210, which reduces the number of parts in the head structure 10.
[0059] In some embodiments, such as Figure 7 As shown, the head body 100 also includes a first support member 510, a second support member 520 and a third support member 530.
[0060] like Figure 4 and Figure 7 As shown, the first support member 510 is connected to the third component 130. The second support member 520 is connected to the third component 130. The first support member 510 and the second support member 520 are located on both sides of the third component 130 in the first direction X. The first direction X is parallel to the third axis L3.
[0061] like Figure 2 and Figure 7 As shown, the third support member 530 is connected to the first component 110 and / or the second component 120, wherein the third support member 530 and the second support member 520 are spaced apart in the second direction Y. The second direction Y is perpendicular to the first direction X and perpendicular to the second axis L2.
[0062] The first support member 510, the second support member 520, and the third support member 530 are all configured to support components and / or cables in the head structure 10. For example, components may be sensors, cameras, or other structures. For example, cables may be wires and / or signal lines for drive structures (e.g., motors), sensors, cameras, or other structures.
[0063] For example, taking the first direction X as the front-to-back direction of the head structure 10 and the second direction Y as the up-to-down direction of the head structure, since the first support member 510 and the second support member 520 are respectively located on both sides of the third component 130 in the first direction X, the first support member 510 and the second support member 520 can support the components and cables at the front and rear of the head structure 10. The third support member 530 is spaced apart from the second support member 520 in the second direction Y, so the second support member 520 and the third support member 530 can support the components and cables at the top and bottom of the head structure 10. Therefore, by using the first support member 510, the second support member 520, and the third support member 530, the components and cables at the front, rear, top, and bottom of the head structure 10 can be supported, which facilitates the layout of other components of the head structure 10 and the fixation of cables.
[0064] In some embodiments, such as Figure 4 and Figure 7 As shown, the first support member 510 includes a first U-shaped structure 511, the middle part of the first U-shaped structure 511 is connected to the third component 130, and the two ends of the first U-shaped structure 511 extend along the first direction X to both sides of the third component 130.
[0065] For example, taking the first direction X as the front-back direction of the head structure 10, the second direction Y as the up-down direction of the head structure, and the extension direction of the first axis L1 as the left-right direction, the two ends of the first U-shaped structure 511 extend along the first direction X to both sides of the third component 130, that is, the two ends of the first U-shaped structure 511 are respectively arranged opposite to each other on both sides of the third component 130 in the extension direction of the first axis L1, so as to facilitate the support of the components and cables on the left and right sides of the head body 100.
[0066] In some embodiments, the third support member 530 includes a second U-shaped structure 531, both ends of which extend along the first direction X and are respectively connected to the first component 110 and the second component 120.
[0067] For example, taking the first direction X as the front-back direction of the head structure 10, the second direction Y as the up-down direction of the head structure, and the extension direction of the first axis L1 as the left-right direction, the two ends of the second U-shaped structure 531 extend along the first direction X and are respectively connected to the first component 110 and the second component 120. That is, the two ends of the second U-shaped structure 531 are arranged opposite to each other on both sides of the third component 130 in the extension direction of the first axis L1, so as to facilitate the support of the components and cables on the left and right sides of the head body 100.
[0068] Figure 8 As shown Figure 2 A cross-sectional view of the head structure in the EE direction. Figure 9As shown Figure 8 A magnified view of the head structure in region F. In some embodiments, such as Figure 8 and Figure 9 As shown, the pitch output component 220 has a first calibration hole 222 extending along the extension direction of the first axis L1, and the head body 100 has a second calibration hole 140 extending along the extension direction of the first axis L1. During the relative rotation of the pitch output component 220 and the head body 100, the center line of the first calibration hole 222 can be collinear with the center line of the second calibration hole 140. When the center line of the first calibration hole 222 and the center line of the second calibration hole 140 are collinear, the head body 100 is in the pitch zero position state.
[0069] For example, the head body 100 being in a pitch zero position can be considered as the head body 100 not pitching relative to the robot body 20.
[0070] For example, during the relative rotation of the pitch output component 220 and the head body 100, a calibration pin can be inserted into the first calibration hole 222 and the second calibration hole 140 so that the center line of the first calibration hole 222 is collinear with the center line of the second calibration hole 140.
[0071] The pitch zero position calibration of the head structure 10 is achieved through the first calibration hole 222 and the second calibration hole 140. The calibration structure is simple, reliable, and easy to operate.
[0072] Figure 10 The image shown is a front view of a head structure provided in an embodiment of this application. Figure 11 As shown Figure 10 A cross-sectional view of the head structure in the GG direction. Figure 12 As shown Figure 8 A magnified view of the head structure in region H. In some embodiments, such as Figures 10 to 12 As shown, the oscillating head output component 320 has a third calibration hole 321 extending along the extension direction of the third axis L3, and the oscillating head drive component 310 has a fourth calibration hole 312 extending along the extension direction of the third axis L3. During the relative rotation of the oscillating head output component 320 and the oscillating head drive component 310, the center line of the third calibration hole 321 can be collinear with the center line of the fourth calibration hole 312. When the center line of the third calibration hole 321 and the center line of the fourth calibration hole 312 are collinear, the head body 100 is in the oscillating head zero position state.
[0073] For example, the head body 100 being in the zero-swing state can be considered as the head body 100 not swinging relative to the robot body 20.
[0074] For example, the head body 100 is simultaneously in the pitch zero position and the head swing zero position, which can be considered as the head body 100 neither pitching nor swinging relative to the robot body 20, that is, the head body 100 is facing directly in front of the robot 1.
[0075] For example, during the relative rotation of the oscillating head output component 320 and the oscillating head drive component 310, a calibration pin can be inserted into the third calibration hole 321 and the fourth calibration hole 312 so that the center line of the third calibration hole 321 and the center line of the fourth calibration hole 312 are collinear.
[0076] The zero-position calibration of the head structure 10 is achieved through the third calibration hole 321 and the fourth calibration hole 312. The calibration structure is simple, reliable, and easy to operate.
[0077] In some embodiments, such as Figure 1 As shown, the pitch output component 220 has a first limiting portion 223 and a second limiting portion 224 arranged circumferentially opposite each other along the first axis L1, and the head body 100 has a third limiting portion 150 and a fourth limiting portion 160 arranged circumferentially opposite each other along the first axis L1. During the relative rotation of the pitch output component 220 and the head body 100, the first limiting portion 223 can abut against the third limiting portion 150, and the second limiting portion 224 can abut against the fourth limiting portion 160. That is, the abutment achieves mechanical limitation on the relative rotation of the pitch output component 220 and the head body 100, preventing the relative rotation angle of the pitch output component 220 and the head body 100 from being too large.
[0078] For example, such as Figure 1 As shown, the pitch output member 220 may include two protrusions extending along the extension direction of the first axis L1, with a first limiting portion 223 and a second limiting portion 224 located on opposite surfaces of the two protrusions, respectively. The head body 100 may include a protrusion extending along the extension direction of the first axis L1, with a third limiting portion 150 and a fourth limiting portion 160 located on the protrusion.
[0079] For example, the pitch output member 220 may include an arcuate groove extending circumferentially along the first axis L1, with a first limiting portion 223 and a second limiting portion 224 located at both ends of the arcuate groove. The head body 100 may include a protrusion extending in the extending direction along the first axis L1, with a third limiting portion 150 and a fourth limiting portion 160 located on the protrusion.
[0080] Figure 13 The diagram shown is a schematic diagram of the head structure provided in another embodiment of this application. Figure 14 As shown Figure 13 A magnified view of the head structure in region J. In some embodiments, such as Figure 13 and Figure 14As shown, the oscillating output member 320 has a fifth limiting part 322 and a sixth limiting part 323 arranged circumferentially opposite each other along the third axis L3, and the oscillating drive member 310 has a seventh limiting part 313 and an eighth limiting part 314 arranged circumferentially opposite each other along the third axis L3. During the relative rotation of the oscillating output member 320 and the oscillating drive member 310, the fifth limiting part 322 can abut against the seventh limiting part 313, and the sixth limiting part 323 can abut against the eighth limiting part 314. That is, the mechanical limitation of the relative rotation of the oscillating output member 320 and the oscillating drive member 310 is achieved by abutting, so as to prevent the relative rotation angle of the oscillating output member 320 and the oscillating drive member 310 from being too large.
[0081] For example, such as Figure 14 As shown, the oscillating output member 320 may include an arc-shaped groove extending circumferentially along the third axis L3, with a fifth limiting portion 322 and a sixth limiting portion 323 located at both ends of the arc-shaped groove. The oscillating drive member 310 may include a protrusion extending along the extension direction of the third axis L3, with a seventh limiting portion 313 and an eighth limiting portion 314 located on the protrusion.
[0082] For example, the pitch output member 220 may include two protrusions extending along the extension direction of the third axis L3, with a fifth limiting portion 322 and a sixth limiting portion 323 located on opposite surfaces of the two protrusions. The oscillating drive member 310 may include a protrusion extending along the extension direction of the third axis L3, with a seventh limiting portion 313 and an eighth limiting portion 314 located on the protrusion.
[0083] In some embodiments, such as Figure 8 and Figure 11 As shown, the head-swinging drive 310 includes a head-swinging drive 315 and a head-swinging mounting base 316.
[0084] The head-swing drive 315 includes an elongated structure 3151. The head-swing mounting base 316 includes an annular structure 3161. The annular structure 3161 is fitted onto the elongated structure 3151. Figure 8 As shown, the second connecting part 311 is connected to the outer side of the annular structure 3161, and the outer side of the annular structure 3161 is also provided with a third connecting part 3162. The head body 100 and the third connecting part 3162 are rotatably connected around the second axis L2.
[0085] For example, the elongated structure 3151 can be a cylinder (e.g., an elongated structure with a circular cross-section), or an elongated structure with a polygonal or irregular cross-section. The ring structure 3161 can be a circular ring, or a rectangular ring, an irregularly shaped ring, etc.
[0086] The oscillating head drive 315 can be a drive component of a motor or a rotary electric cylinder. In practical applications, the oscillating head drive 315 can be a standard part. Standard parts are easy to purchase, but may not be convenient to connect directly to the connecting rod assembly 400 and the head body 100. By providing the oscillating head mounting base 316, it is convenient to connect the oscillating head drive 315 and the connecting rod assembly 400 to the head body 100.
[0087] Figure 15 The diagram shown is a structural schematic of a robot provided in one embodiment of this application. Figure 15 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.
[0088] 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.
[0089] 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.
[0090] 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).
[0091] 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.
[0092] 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.
[0093] 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 comprising an interconnected robot body and the head structure, the head structure comprising: Head body; The pitch drive assembly includes a pitch drive component and a pitch output component connected to each other. The pitch drive component is connected to the head body, and the pitch output component rotates about a first axis under the drive of the pitch drive component. A head-swinging drive assembly includes a head-swinging drive component and a head-swinging output component connected to each other. The head-swinging drive component is rotatably connected to the head body about a second axis, which is parallel to the first axis. The head-swinging output component is connected to the robot body and rotates about a third axis under the drive of the head-swinging drive component. The third axis is perpendicular to the second axis. A linkage assembly, wherein a first end of the linkage assembly is movably connected to a first connecting portion of the pitch output component, and a second end of the linkage assembly is movably connected to a second connecting portion of the oscillating head drive component, wherein the first connecting portion is located circumferentially along the first axis, and the second connecting portion is located circumferentially along the second axis.
2. The head structure according to claim 1, characterized in that, The linkage assembly includes: Rod-shaped main body; A first spherical bearing includes a first bearing inner ring and a first bearing outer ring, wherein the first bearing inner ring and the first bearing outer ring are spherically fitted, the first bearing inner ring is connected to the first connecting part, and the first bearing outer ring is connected to the 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 second connecting part, and the second bearing outer ring is connected to the rod-shaped body.
3. The head structure according to claim 1, characterized in that, The head body includes: The first component is rotatably connected to one side of the swing head drive member about the second axis. The second component is disposed opposite to the first component, and the first component and the second component are symmetrically disposed with respect to the oscillating head drive member. The other side of the oscillating head drive member is rotatably connected to the second component about the second axis. The third component connects the first component and the second component.
4. The head structure according to claim 3, characterized in that, The third component has a receiving space, and the pitch drive is disposed in the receiving space.
5. The head structure according to claim 3, characterized in that, The head body also includes: The first support member is connected to the third component; The second support member is connected to the third component, wherein the first support member and the second support member are respectively located on both sides of the third component in a first direction, and the first direction is parallel to the third axis. A third support member is connected to the first component and / or the second component, wherein the third support member and the second support member are spaced apart in a second direction, the second direction being perpendicular to the first direction and perpendicular to the second axis. The first support member, the second support member, and the third support member are all configured to support the components and / or cables in the head structure.
6. The head structure according to claim 5, characterized in that, The first support member includes a first U-shaped structure, the middle part of the first U-shaped structure is connected to the third component, and the two ends of the first U-shaped structure extend along the first direction to both sides of the third component; And / or, The third support member includes a second U-shaped structure, both ends of which extend along the first direction and are respectively connected to the first component and the second component.
7. The head structure according to any one of claims 1 to 6, characterized in that, The pitch output component has a first calibration hole extending along the extension direction of the first axis, and the head body has a second calibration hole extending along the extension direction of the first axis. During the relative rotation of the pitch output component and the head 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 the pitch zero position state. And / or, The oscillating head output component has a third calibration hole extending along the extension direction of the third axis, and the oscillating head drive component has a fourth calibration hole extending along the extension direction of the third axis. During the relative rotation of the oscillating head output component and the oscillating head drive component, 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 oscillating head zero position state.
8. The head structure according to any one of claims 1 to 6, characterized in that, The pitch output component has a first limiting part and a second limiting part arranged circumferentially opposite to each other along the first axis. The head body has a third limiting part and a fourth limiting part arranged circumferentially opposite to each other along the first axis. During the relative rotation of the pitch output component and the head 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 oscillating head output component has a fifth limiting portion and a sixth limiting portion arranged circumferentially opposite each other along the third axis, and the oscillating head drive component has a seventh limiting portion and an eighth limiting portion arranged circumferentially opposite each other along the third axis. During the relative rotation of the oscillating head output component and the oscillating head drive component, the fifth limiting portion can abut against the seventh limiting portion, and the sixth limiting portion can abut against the eighth limiting portion.
9. The head structure according to any one of claims 1 to 6, characterized in that, The head-swing driving component includes: A head-swinging drive, the head-swinging drive comprising a long strip-shaped structure; The head-swinging mounting base includes an annular structure, which is fitted onto the elongated structure. A second connecting part is connected to the outer side of the annular structure, and a third connecting part is also provided on the outer side of the annular structure. The head body and the third connecting part are rotatably connected around the second axis.
10. A robot, characterized in that, include: The head structure according to any one of claims 1 to 9.