Neck housing assembly and robot

Abstract

The utility model relates to the technical field of robots, in particular to a neck shell assembly and a robot, and aims to solve the problems that a neck shell is made of a hard material, is difficult to bend, twist and extend along with movement of a head and neck joint, and is poor in bionic effect. The neck shell assembly comprises a supporting assembly and a flexible wrapping piece, the two ends of the annular tubular supporting assembly are connected with the head shell assembly and the trunk shell assembly respectively, a plurality of first deformation grooves are formed in the outer wall of the supporting assembly, and the first deformation grooves extend in the circumferential direction of the outer wall of the supporting assembly; according to the neck shell assembly, the supporting assembly can deform in the circumferential direction of the supporting assembly and in the direction perpendicular to the circumferential direction of the supporting assembly, the supporting assembly is sleeved with the flexible wrapping piece, the outer wall of the supporting assembly supports the flexible wrapping piece, the whole neck shell assembly can be naturally bent, twisted and stretched, and the bionic effect of the robot is improved; and the head shell assembly, the neck shell assembly and the trunk shell assembly are continuous in appearance, so that the integrity of the appearance of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a neck housing assembly and a robot. Background Technology

[0002] In the current era of booming robotics technology, biomimetic robots, as an important research direction in this field, aim to simulate the appearance, movements, and even behavioral patterns of living organisms in order to achieve more natural and efficient human-computer interaction, showing great application potential in many fields such as service, entertainment, education, and healthcare.

[0003] However, most existing robots use rigid materials as the neck shell. During head and neck joint movements, these materials cannot naturally bend and extend with the joint's movement. This results in stiff and unnatural movements when the robot performs head and neck actions, significantly reducing the biomimetic effect. Utility Model Content

[0004] In view of this, embodiments of this application provide a neck shell assembly and a robot to solve the problem that neck shells are made of rigid materials, making it difficult to bend and stretch with the movement of the head and neck joints, resulting in poor biomimetic effect.

[0005] One embodiment of this application provides a neck shell assembly for use in a robot. The robot includes a head shell assembly and a torso shell assembly. The head shell assembly has a first receiving space, and the torso shell assembly has a second receiving space. The neck shell assembly includes: a support assembly, the support assembly having a first annular tubular shape, the support assembly having a third receiving space, a first end and a second end of the support assembly being disposed opposite to each other along a first direction, the first end of the support assembly being used to connect to the head shell assembly, the second end of the support assembly being used to connect to the torso shell assembly, the third receiving space being communicative with the first receiving space and the second receiving space, the outer wall of the support assembly having a plurality of first deformation grooves extending circumferentially along the outer wall of the support assembly; and a flexible wrapping member, the flexible wrapping member having a second annular tubular shape, the flexible wrapping member being sleeved on the outside of the support assembly, the first end of the flexible wrapping member being connected to the first end of the support assembly, and the second end of the flexible wrapping member being connected to the second end of the support assembly.

[0006] In some implementations, the first end of the support component has a first opening for connecting the third receiving space with the first receiving space, the first end of the flexible wrapping extends into the third receiving space through the first opening and is connected to the inner wall of the support component, and both the first end of the support component and the first end of the flexible wrapping are used to connect to the head shell assembly.

[0007] In some implementations, the head housing assembly includes at least one first positioning portion on the side facing the neck housing assembly; the first end of the flexible wrapping member has at least one first through hole; the support assembly includes: a first support member, the first support member having a third annular tubular shape, the first support member having the third receiving space, the first end and the second end of the first support member being disposed opposite to each other along the first direction, the first support member being an elastic body, the outer wall of the first support member having a plurality of first deformation grooves, the first deformation grooves extending circumferentially along the outer wall of the first support member, the first end of the first support member having the first opening; a first connector, the first connector having a first annular structure shape, the first connector being connected to the first end of the first support member, the first connector including at least one second positioning portion, the second positioning portion being able to pass through the first through hole and engage with the first positioning portion in a concave-convex fit, or the first positioning portion being able to pass through the first through hole and engage with the second positioning portion in a concave-convex fit, wherein the first connector and the flexible wrapping member are able to be connected to the head housing assembly.

[0008] In some implementations, the first positioning part is located on the inner wall of the head housing assembly; the first connector is sleeved on the outside of the first support member, and the second positioning part is located on the side of the first connector opposite to the first support member.

[0009] In some implementations, the head housing assembly includes at least one connecting portion on the side facing the neck housing assembly; the support assembly includes: a second support member, the second support member having a fourth annular tubular shape, the second support member having the third receiving space, a first end and a second end of the second support member being disposed opposite to each other along the first direction, the second support member being an elastic body, the outer wall of the second support member having a plurality of first deformation grooves, the first deformation grooves extending circumferentially along the outer wall of the second support member, the first end of the second support member having at least one second through hole; a second connector, the second connector having a second annular structure shape, the second connector being wound around the first end of the flexible wrapping member at least one turn, the second connector having at least one third through hole, the flexible wrapping member having at least two fourth through holes; at least one locking member, the first end of the locking member abutting against the inner wall of the second support member, the second end of the locking member being able to pass through the second through hole, the third through hole and at least two fourth through holes to connect with the connecting portion.

[0010] In some implementations, the connecting portion is located on the inner wall of the head housing assembly; the second connecting member, which is wound around the first end of the flexible wrapping member at least once, is sleeved on the outside of the second support member.

[0011] In some implementations, the support assembly includes: a third support member, the third support member having a fifth annular tubular shape, the third support member having the third receiving space, the first end and the second end of the third support member being disposed opposite to each other along the first direction, the third support member being an elastic body, the outer wall of the third support member having a plurality of first deformation grooves, the first deformation grooves extending circumferentially along the outer wall of the third support member; a third connector, the third connector having a third annular structure, the circumference of the third annular structure being parallel to the circumference of the second end of the third support member, the first side and the second side of the third connector being disposed opposite to each other along the first direction, the first side of the third connector being connected to the second end of the third support member, the second side of the third connector being used to connect to the torso shell assembly, the flexible wrapping member being sleeved on the outside of the third support member and the third connector, and the second end of the flexible wrapping member being connected to the side of the third connector facing the torso shell assembly.

[0012] In some implementations, the torso housing assembly further includes at least one first magnetic body located on the side of the torso housing assembly facing the third connector; the neck housing assembly further includes at least one second magnetic body disposed on the second side of the third connector for attracting the first magnetic body; and / or, the torso housing assembly further includes at least one third positioning portion located on the side of the torso housing assembly facing the third connector; the second side of the third connector includes at least one fourth positioning portion capable of engaging with the third positioning portion.

[0013] In some implementations, the flexible wrapping material is spandex, nylon, polyester, or modal; and / or, the support assembly includes a bellows, the outer wall of which has the first deformation groove.

[0014] Secondly, one embodiment of this application provides a robot, including: a head shell assembly having a first accommodating space; a torso shell assembly having a second accommodating space; a neck shell assembly mentioned in the first aspect, wherein a first end of a support component of the neck shell assembly is connected to the head shell assembly, a second end of the support component is connected to the torso shell assembly, and a third accommodating space of the neck shell assembly communicates with the first accommodating space and the second accommodating space.

[0015] The neck shell assembly provided in this embodiment includes a support assembly and a flexible wrapping component. Both the support assembly and the flexible wrapping component are annular tubular in shape. The first end of the support assembly is used to connect with the head shell assembly, and the second end of the support assembly is used to connect with the torso shell assembly. The first end of the flexible wrapping component is connected with the first end of the support assembly, and the second end of the flexible wrapping component is connected with the second end of the support assembly. This makes the appearance of the head shell assembly, neck shell assembly and torso shell assembly continuous, improving the overall appearance of the robot.

[0016] Meanwhile, the outer wall of the support component has multiple first deformation grooves extending circumferentially along the outer wall of the support component. This allows the support component to deform along its circumference and in directions perpendicular to its circumference, enabling it to naturally bend and extend with the movement of the head shell component relative to the torso shell component. Due to the flexibility of the flexible wrapping component, it can also naturally bend and extend with the movement of the head shell component relative to the torso shell component, allowing the entire neck shell component to naturally bend and extend, thus enhancing the robot's biomimetic effect.

[0017] In addition, the flexible wrapping component is fitted onto the outside of the support assembly, and the outer wall of the support assembly can support the flexible wrapping component, so that the flexible wrapping component will not be excessively concave or twisted, thus improving the aesthetic appearance of the robot. 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 of this application 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 this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 The image shown is a front view of a robot provided in an embodiment of this application.

[0020] Figure 2 The image shown is a left view of a robot provided in one embodiment of this application.

[0021] Figure 3 The diagram shown is a structural schematic of a neck housing assembly provided in an embodiment of this application.

[0022] Figure 4 The diagram shown is a structural schematic of a neck housing assembly provided in another embodiment of this application.

[0023] Figure 5 The diagram shown is a structural schematic of the head shell assembly, neck shell assembly, and torso shell assembly provided in an embodiment of this application.

[0024] Figure 6 The diagram shown is a structural schematic of a torso shell assembly provided in an embodiment of this application.

[0025] Figure 7 The image shown is a front view of a head housing assembly, a neck housing assembly, and a torso housing assembly provided in an embodiment of this application.

[0026] Figure 8 The image shown is an embodiment provided by this application. Figure 7 The diagram shows a cross-sectional view along line AA of the head housing assembly, neck housing assembly, and torso housing assembly.

[0027] Figure 9 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point B in the middle.

[0028] Figure 10 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point C in the middle.

[0029] Figure 11 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point D in the middle.

[0030] Figure 12 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point E in the middle.

[0031] Figure 13 The diagram shown is a partial structural schematic of the head housing assembly and the neck housing assembly provided in an embodiment of this application.

[0032] Figure label:

[0033] 1. Robot; 10. Neck shell assembly; 11. Support assembly; 110. First end of support assembly; 1100. First opening; 111. Second end of support assembly; 112. Third receiving space; 113. First deformation groove; 114. First support member; 1140. First end of first support member; 1141. Second end of first support member; 115. First connector; 1150. Second positioning part; 116. Second support member; 1160. First end of second support member; 1161. Second through hole; 117. Second connector; 1170. Third through hole; 118. Locking member; 1180. First end of locking member; 1181. Second end of locking member ; 119. Third support member; 1190. First end of the third support member; 1191. Second end of the third support member; 12. Flexible wrapping member; 120. First end of the flexible wrapping member; 1200. First through hole; 121. Second end of the flexible wrapping member; 122. Fourth through hole; 13. Third connector; 130. First side of the third connector; 131. Second side of the third connector; 14. Second magnet; 15. Second deformation groove; 20. Head shell assembly; 200. First receiving space; 201. First positioning part; 202. Connecting part; 30. Torso shell assembly; 300. Second receiving space; 301. First magnet; X1. First direction. Detailed Implementation

[0034] 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 skilled in the art without creative effort are within the scope of protection of this application.

[0035] The specific structure of the neck housing assembly and the robot is described below with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1The image shown is a front view of a robot provided in an embodiment of this application. Figure 2 The image shown is a left view of a robot provided in one embodiment of this application. Figure 3 The diagram shown is a structural schematic of a neck housing assembly provided in an embodiment of this application. Figure 4 The diagram shown is a structural schematic of a neck housing assembly provided in another embodiment of this application. Figure 5 The diagram shown is a structural schematic of the head shell assembly, neck shell assembly, and torso shell assembly provided in an embodiment of this application. Figure 6 The diagram shown is a structural schematic of a torso shell assembly provided in an embodiment of this application. Figure 7 The image shown is a front view of a head housing assembly, a neck housing assembly, and a torso housing assembly provided in an embodiment of this application. Figure 8 The image shown is an embodiment provided by this application. Figure 7 The diagram shows a cross-sectional view along line AA of the head housing assembly, neck housing assembly, and torso housing assembly. Figure 9 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point B in the middle. Figure 10 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point C in the middle. Figure 11 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point D in the middle. Figure 12 The image shown is an embodiment provided by this application. Figure 8 Enlarged diagram of point E in the middle. Figure 13 The diagram shown is a partial structural schematic of the head housing assembly and the neck housing assembly provided in an embodiment of this application.

[0037] like Figures 1 to 13 As shown, the neck housing assembly 10 is applied to robot 1. Robot 1 includes a head housing assembly 20 and a torso housing assembly 30, the head housing assembly 20 having a first receiving space 200 and the torso housing assembly 30 having a second receiving space 300.

[0038] Specifically, the head shell assembly 20, neck shell assembly 10, and torso shell assembly 30 are connected in sequence to form the external shape of the head, neck, and torso of the robot 1, respectively. For example, the robot 1 can be a biomimetic robot. For instance, the robot 1 can be a humanoid robot, an ape-like robot, or a hippopotamus-like robot, etc. For example, the first accommodating space 200, the second accommodating space 300, and the third accommodating space 112 of the neck shell assembly 10 described below can be used to accommodate drive structures, sensors, or control devices, etc.

[0039] The neck housing assembly 10 includes a support assembly 11 and a flexible wrapping member 12. The support assembly 11 has a first annular tubular shape and a third receiving space 112. A first end 110 and a second end 111 of the support assembly are positioned opposite each other along a first direction X1. The first end 110 is used to connect to the head housing assembly 20, and the second end 111 is used to connect to the torso housing assembly 30. The third receiving space 112 can communicate with the first receiving space 200 and the second receiving space 300. The outer wall of the support assembly 11 has a plurality of first deformation grooves 113 extending circumferentially along the outer wall of the support assembly 11.

[0040] For example, the first deformation groove 113 is recessed from the outer wall of the support assembly 11 to the inner wall. The cross-sectional shape of the first deformation groove 113 may include a horizontal V-shape or an arc shape, etc.

[0041] For example, robot 1 may have a front and rear side arranged opposite to each other, and a left and right side arranged opposite to each other. In some application scenarios, the head shell assembly 20 can be driven to perform actions such as forward and backward head swinging, left and right head swinging, and left and right head turning. During the forward and backward head swinging or left and right head swinging actions of the head shell assembly 20, the first deformation groove 113 can deform in a circumferential direction perpendicular to the outer wall of the support assembly 11, so that the support assembly 11 can bend towards the front, rear, left, or right side. During the left and right head turning actions of the head shell assembly 20, the first deformation groove 113 can twist and deform circumferentially along the outer wall of the support assembly 11, so that the support assembly 11 can twist and deform circumferentially along the outer wall of the support assembly 11.

[0042] The size and depth of the first deformation groove 113 can be set according to the required degree of deformation of the support component 11, and this embodiment does not make specific limitations.

[0043] The flexible wrapping member 12 has a second annular tubular shape. The flexible wrapping member 12 is sleeved on the outside of the support assembly 11. The first end 120 of the flexible wrapping member is connected to the first end 110 of the support assembly, and the second end 121 of the flexible wrapping member is connected to the second end 111 of the support assembly.

[0044] Because the flexible wrapping component 12 is flexible, during the process of the head shell assembly 20 being driven to make movements such as back and forth head swinging, left and right head swinging, and left and right head turning, the flexible wrapping component 12 can also naturally bend and stretch with the movement of the head and neck joint, so that the entire neck shell assembly 10 can naturally bend and stretch with the movement of the head and neck joint, thus improving the biomimetic effect.

[0045] The flexible wrapping component 12 is fitted onto the outside of the support component 11 to form the appearance of the neck shell component 10. During the process of the head shell component 20 being driven to perform actions such as back-and-forth head swinging, left-and-right head swinging, and left-and-right head turning, the outer wall of the support component 11 can support the flexible wrapping component 12, so that the flexible wrapping component 12 will not be excessively concave or twisted. In addition, the flexible wrapping component 12 can also be used to cover the first deformation groove 113, which improves the aesthetics of the robot 1.

[0046] For example, the flexible wrapping element 12 can be made of cloth or rubber, etc. For example, the material of the flexible wrapping element 12 may include fleece to give it a skin-friendly effect and enhance the user's interactive experience.

[0047] For example, the connection methods of the flexible wrapping component 12 and the support component 11, the connection methods of the neck shell component 10 and the head shell component 20, and the connection methods of the neck shell component 10 and the torso shell component 30 may include one or more combinations of the following connection methods: adhesive, screw, sewing, riveting, snap-fit, heat fusion and magnetic connection.

[0048] For example, the circumferential dimensions of the two ends of the first annular tube along the first direction can be greater than the circumferential dimension of the middle portion of the first annular tube. The circumferential dimensions of the two ends of the second annular tube along the first direction can be greater than the circumferential dimension of the middle portion of the second annular tube. For example, the circumferential dimension of the middle portion of the second annular tube can be greater than the circumferential dimension of the middle portion of the first annular tube. This allows the flexible wrapping member 12 to be supported by the support assembly 11 while also having deformation space. For example, the middle portion of the flexible wrapping member 12 along the first direction X1 can be spaced apart from the outer wall of the support assembly 11.

[0049] For example, the first end 110 of the support component can be adapted to the head housing assembly 20, and the second end 111 of the support component can be adapted to the torso housing assembly 30.

[0050] The neck shell assembly 10 provided in this embodiment includes a support assembly 11 and a flexible wrapping member 12. Both the support assembly 11 and the flexible wrapping member 12 are annular tubular in shape. The first end 110 of the support assembly is used to connect with the head shell assembly 20, and the second end 111 of the support assembly is used to connect with the torso shell assembly 30. The first end 120 of the flexible wrapping member is connected with the first end 110 of the support assembly, and the second end 121 of the flexible wrapping member is connected with the second end 111 of the support assembly. This makes the appearance of the head shell assembly 20, the neck shell assembly 10 and the torso shell assembly 30 continuous, improving the overall appearance of the robot 1.

[0051] Meanwhile, the outer wall of the support component 11 has multiple first deformation grooves 113, which extend circumferentially along the outer wall of the support component 11. This allows the support component 11 to deform along its circumference and in directions perpendicular to its circumference, enabling it to naturally bend and extend with the movement of the head shell component 20 relative to the torso shell component 30. Because the flexible wrapping component 12 is flexible, it can also naturally bend and extend with the movement of the head shell component 20 relative to the torso shell component 30, allowing the neck shell component 10 as a whole to naturally bend and extend, thus enhancing the biomimetic effect of the robot 1.

[0052] In addition, the flexible wrapping component 12 is sleeved on the outside of the support component 11, and the outer wall of the support component 11 can support the flexible wrapping component 12, so that the flexible wrapping component 12 will not be excessively concave or twisted, thus improving the aesthetic appearance of the robot 1.

[0053] In some embodiments, such as Figures 8 to 10 As shown, the first end 110 of the support assembly has a first opening 1100, which connects the third receiving space 112 with the first receiving space 200. The first end 120 of the flexible wrapping extends into the third receiving space 112 through the first opening 1100 and connects to the inner wall of the support assembly 11. Both the first end 110 of the support assembly and the first end 120 of the flexible wrapping are used to connect to the head housing assembly 20.

[0054] The first end 120 of the flexible package can extend into the third receiving space 112 through the first opening 1100 and connect with the inner wall of the support component 11, so that the first end 120 of the flexible package can continue to extend towards the inner wall of the support component 11 through the edge of the first opening 1100, making the appearance of the neck shell assembly 10 facing the head shell assembly 20 more coherent and improving the overall appearance of the neck shell assembly 10 and the robot 1.

[0055] The first end 110 of the support component and the first end 120 of the flexible wrapping component are both used to connect to the head housing assembly 20 to achieve the connection between the side of the neck housing assembly 10 facing the head housing assembly 20 and the head housing assembly 20.

[0056] Exemplarily, the first end 120 of the flexible package can be bonded to the inner wall of the support assembly 11. The first end 120 of the flexible package can extend into the third receiving space 112 through the first opening 1100 to connect with the inner wall of the support assembly 11. This increases the contact area between the first end 120 of the flexible package and the support assembly 11, making the bond between the two more secure.

[0057] For example, the second end 111 of the support component may have a second opening communicating with the third receiving space 112, and the second end 121 of the flexible package may extend into the third receiving space 112 through the second opening and connect with the inner wall of the support component 11.

[0058] In some embodiments, such as Figure 9 and Figure 10 As shown, the head housing assembly 20 includes at least one first positioning portion 201 on the side facing the neck housing assembly 10. The first end 120 of the flexible wrapping has at least one first through hole 1200.

[0059] The support assembly 11 includes a first support member 114 and a first connector 115. The first support member 114 has a third annular tubular shape and a third receiving space 112. A first end 1140 and a second end 1141 of the first support member are disposed opposite to each other along a first direction X1. The first support member 114 is an elastic body, and its outer wall has a plurality of first deformation grooves 113 extending circumferentially along the outer wall of the first support member 114. The first end 1140 of the first support member has a first opening 1100.

[0060] Exemplarily, the material of the first support member 114 can be an elastic material. For example, the material of the first support member 114 can be silicone, rubber, or thermoplastic polyurethane (TPU). Exemplarily, the circumferential dimension of both ends of the third annular tube along the first direction X1 can be greater than the circumferential dimension of the middle portion of the third annular tube. Exemplarily, the middle portion of the flexible wrapping member 12 along the first direction X1 can be spaced apart from the outer wall of the first support member 114.

[0061] The first connector 115 has a first annular structure and is connected to the first end 1140 of the first support member. The first connector 115 includes at least one second positioning portion 1150. The second positioning portion 1150 can pass through the first through hole 1200 and engage with the first positioning portion 201. Alternatively, the first positioning portion 201 can pass through the first through hole 1200 and engage with the second positioning portion 1150. The first connector 115 and the flexible wrapping member 12 can be connected to the head housing assembly 20.

[0062] Since the first support member 114 is an elastic body, its outer wall has multiple first deformation grooves 113. These grooves extend circumferentially along the outer wall of the first support member 114, allowing it to naturally bend and stretch with the movement of the head shell assembly 20 relative to the torso shell assembly 30. Because the first support member 114 is an elastic body, it is connected to the support assembly 11 and the head shell assembly 20 via the first connector 115 and the flexible wrapping member 12. This allows for greater choice of material for the first connector 115; for example, the material of the first connector 115 can be similar to or the same as that of the head shell assembly 20, thereby increasing the connection strength between the support assembly 11 and the head shell assembly 20.

[0063] Meanwhile, since the support component 11 has a first annular tubular shape, the second positioning part 1150 of the first connector 115 and the first positioning part 201 of the head shell assembly 20 can be positioned at the head shell assembly 20 through the concave-convex cooperation of the second positioning part 1150 of the first connector 115. This facilitates the assembly, repair and maintenance of the support component 11 and the head shell assembly 20, and increases the contact area between the support component 11 and the head shell assembly 20, making the connection between the two more secure.

[0064] Furthermore, since the first end 120 of the flexible wrapping member has a first through hole 1200, the second positioning part 1150 can pass through the first through hole 1200 and engage with the first positioning part 201, or the first positioning part 201 can pass through the first through hole 1200 and engage with the second positioning part 1150, so that the flexible wrapping member 12 can be further fixed by the first positioning part 201 or the second positioning part 1150, thereby increasing the connection strength between the flexible wrapping member 12 and the support assembly 11.

[0065] Exemplarily, the second positioning portion 1150 may be located on the side of the first connector 115 facing the head housing assembly 20. Exemplarily, the side of the head housing assembly 20 facing the neck housing assembly 10 may include a plurality of first positioning portions 201. The first connector 115 may include a plurality of second positioning portions 1150, which may be distributed circumferentially around the first connector 115.

[0066] Exemplarily, the shape of the first connector 115 may include a first annular structure, and the shape of the first end 1140 of the first support member also includes an annular structure. The first connector 115 may be connected to the end face of the first end 1140 of the first support member that is oriented towards the head housing assembly 20. Exemplarily, the material of the first connector 115 may be plastic or metal. For example, the material of the first connector 115 may be engineering plastic.

[0067] Exemplarily, the first connector 115 and the flexible wrapping member 12 can also be bonded to the head shell assembly 20 to increase the sealing of the connection between the support assembly 11 and the head shell assembly 20. Exemplarily, the flexible wrapping member 12 can be made of a waterproof material. Exemplarily, the flexible wrapping member 12 can be a waterproof cloth or rubber.

[0068] In some implementations, the first positioning part 201 can be a protrusion, and the second positioning part 1150 can be a groove. In other implementations, the first positioning part 201 can be a groove, and the second positioning part 1150 can be a protrusion.

[0069] In some embodiments, such as Figures 8 to 10 As shown, the first positioning part 201 is located on the inner wall of the head shell assembly 20. The first connector 115 is sleeved on the outer side of the first support member 114, and the second positioning part 1150 is located on the side of the first connector 115 opposite to the first support member 114. This arrangement allows the first connector 115 to connect with the inner wall of the head shell assembly 20, and the connection between the neck shell assembly 10 and the head shell assembly 20 can be located in the first receiving space 200, further improving the overall appearance and aesthetics of the robot 1.

[0070] In some embodiments, such as Figure 13 As shown, the head housing assembly 20 includes at least one connecting portion 202 on the side facing the neck housing assembly 10. The support assembly 11 includes a second support member 116, a second connecting member 117, and at least one locking member 118.

[0071] The second support member 116 has a fourth annular tubular shape and a third receiving space 112. The first end 1160 and the second end of the second support member are positioned opposite each other along a first direction X1. The second support member 116 is an elastic body, and its outer wall has a plurality of first deformation grooves 113 extending circumferentially along the outer wall of the second support member 116. The first end 1160 of the second support member has at least one second through hole 1161.

[0072] Exemplarily, the material of the second support member 116 can be an elastic material. For example, the material of the second support member 116 can be silicone, rubber, or thermoplastic polyurethane (TPU). Exemplarily, the circumferential dimension of both ends of the fourth annular tube along the first direction can be greater than the circumferential dimension of the middle portion of the fourth annular tube. Exemplarily, the middle portion of the flexible wrapping member 12 along the first direction X1 is spaced apart from the outer wall of the second support member 116.

[0073] The second connector 117 has a second annular structure and is wound at least one turn around the first end 120 of the flexible wrapper. The second connector 117 has at least one third through hole 1170. The flexible wrapper 12 has at least two fourth through holes 122.

[0074] The first end 1180 of the locking member abuts against the inner wall of the second support member 116, and the second end 1181 of the locking member can pass through the second through hole 1161, the third through hole 1170 and at least two fourth through holes 122 to connect with the connecting part 202.

[0075] Because the first end 120 of the flexible wrapping member has a ring-shaped structure, it can be wrapped around the second connector 117 one or more times in a direction perpendicular to the circumference of the second connector 117, thereby wrapping the second connector 117. The second connector 117, which is wrapped around the first end 120 of the flexible wrapping member at least once, also has a ring-shaped structure. The locking member 118 can pass through the second support member 116 to the head housing assembly 20. The second end 1181 of the locking member can pass through the second through hole 1161, the third through hole 1170, and at least two fourth through holes 122 to connect with the connecting portion 202, thus achieving the connection between the support assembly 11 and the head housing assembly 20. The locking member 118 can lock the second support member 116, the second connector 117, and the flexible wrapping member 12 to the head housing assembly 20, making the connection between the support assembly 11 and the head housing assembly 20 more reliable.

[0076] Furthermore, by wrapping the second connector 117 with the flexible wrapping member 12 and then connecting it to the locking member 118 and the head housing assembly 20, compared with not wrapping the second connector 117, the second connector 117 can provide support for the flexible wrapping member 12 and bear part of the load of the flexible wrapping member 12, thus preventing damage to the flexible wrapping member 12 and failure of the connection.

[0077] For example, the second connector 117, which is wound at least one turn around the first end 120 of the flexible wrapper, is also bonded to the head housing assembly 20 to increase the sealing of the connection between the support assembly 11 and the head housing assembly 20.

[0078] For example, the material of the second connector 117 can be plastic or metal. For example, the second end 1181 of the locking member is screwed to the connecting portion 202. For example, the locking member 118 can be a screw. The first end 1180 of the locking member can be the nut of a screw. The second end 1181 of the locking member can be the shank of a screw. The connecting portion 202 can be a threaded hole.

[0079] In some embodiments, such as Figure 13As shown, the connecting portion 202 is located on the inner wall of the head shell assembly 20. The second connecting member 117, which is wrapped at least once around the first end 120 of the flexible wrapping member, is sleeved on the outer side of the second support member 116. This arrangement allows the support assembly 11 to connect with the inner wall of the head shell assembly 20, and allows the connection between the neck shell assembly 10 and the head shell assembly 20 to be located in the first receiving space 200, further improving the overall appearance and aesthetics of the robot 1.

[0080] In some embodiments, such as Figure 4 , Figure 8 , Figure 11 as well as Figure 12 As shown, the support component 11 includes a third support member 119 and a third connector 13.

[0081] The third support member 119 has a fifth annular tubular shape and a third receiving space 112. The first end 1190 and the second end 1191 of the third support member are arranged opposite to each other along a first direction X1. The third support member 119 is an elastic body, and its outer wall has a plurality of first deformation grooves 113 extending circumferentially along the outer wall of the third support member 119.

[0082] The material and structure of the third support member 119 can be referenced to the first support member 114, and will not be repeated here. For example, the first support member 114 and the third support member 119 can be the same, and the second support member 116 and the third support member 119 can also be the same.

[0083] The third connector 13 includes a third annular structure, the circumference of which is parallel to the circumference of the second end 1191 of the third support. The first side 130 and the second side 131 of the third connector are positioned opposite each other along a first direction X1. The first side 130 of the third connector is connected to the second end 1191 of the third support, and the second side 131 of the third connector is used to connect to the torso shell assembly 30. The flexible wrapping member 12 is sleeved on the outside of the third support 119 and the third connector 13, and the second end 121 of the flexible wrapping member is connected to the side of the third connector 13 facing the torso shell assembly 30.

[0084] Since the third support member 119 is an elastic body, the connection between the support component 11 and the torso shell component 30 is achieved through the third connector 13, which allows for more choices of the material of the third connector 13. For example, the material of the third connector 13 can be metal or hard plastic, which helps to increase the connection strength between the support component 11 and the head shell component 20.

[0085] Meanwhile, the circumference of the third ring structure is parallel to the circumference of the second end 1191 of the third support member. The second side 131 of the third connector is used to connect with the torso shell assembly 30. The flexible wrapping member 12 is sleeved on the outside of the third support member 119 and the third connector 13. The second end 121 of the flexible wrapping member is connected to the side of the third connector 13 facing the torso shell assembly 30, so that the second end 121 of the flexible wrapping member can continue to extend along the edge of the third connector 13 to the side facing the torso shell assembly 30. This makes the appearance of the neck shell assembly 10 facing the torso shell assembly 30 more continuous, avoids the second end 121 of the flexible wrapping member being exposed, and improves the overall appearance of the neck shell assembly 10 and the robot 1.

[0086] For example, the second end 121 of the flexible package can be bonded to the third connector 13.

[0087] In some embodiments, such as Figure 11 As shown, the torso housing assembly 30 also includes at least one first magnetic body 301, located on the side of the torso housing assembly 30 facing the third connector 13. The neck housing assembly 10 also includes at least one second magnetic body 14. The second magnetic body 14 is disposed on the second side 131 of the third connector for attracting the first magnetic body 301.

[0088] By setting the first magnetic body 301 and the second magnetic body 14, a magnetic connection is achieved between the torso shell assembly 30 and the neck shell assembly 10, facilitating the assembly and disassembly of the neck shell assembly 10 from the torso shell assembly 30, and simplifying the repair and maintenance of the robot 1. For example, the third connector 13 can be lifted to separate the first magnetic body 301 from the second magnetic body 14, allowing the neck shell assembly 10 to be detached from the torso shell assembly 30.

[0089] For example, the shapes of the first magnetic body 301 and the second magnetic body 14 may both include columnar or ring-shaped.

[0090] In some embodiments, reference Figure 10 The torso housing assembly 30 further includes: at least one third positioning part, the third positioning part being located on the side of the torso housing assembly 30 facing the third connector 13; the second side 131 of the third connector includes at least one fourth positioning part, the fourth positioning part being capable of engaging with the third positioning part.

[0091] The structures of the third and fourth positioning parts can be referenced from the first positioning part 201 and the second positioning part 1150, and will not be described in detail here.

[0092] In some implementations, the first magnetic body 301 can be a protrusion, and the second magnetic body 14 can be a groove. For example, the first magnetic body 301 can be a columnar protrusion, and the second magnetic body 14 can be a circular groove. This allows for both magnetic connection and positioning of the support assembly 11 within the body shell assembly 30. In other implementations, the first magnetic body 301 can be a groove, and the second magnetic body 14 can be a protrusion.

[0093] In some embodiments, the flexible wrapping element 12 may be elastic, so that the flexible wrapping element 12 can bend and stretch more naturally with the movement of the head and neck joints, making the appearance of the neck smoother and further enhancing the biomimetic nature of the robot 1.

[0094] In some embodiments, the flexible wrapping element 12 is made of spandex, nylon, polyester, or modal. For example, the flexible wrapping element 12 may be made of polyester high-elasticity yarn fabric.

[0095] In some embodiments, the support assembly 11 includes a bellows with a first deformation groove 113 on its outer wall. The bellows may form a first support 114, a second support 116, or a third support 119. Exemplarily, the support assembly 11 may include a variable diameter bellows.

[0096] In some embodiments, such as Figure 8 As shown, the inner wall of the support assembly 11 has a plurality of second deformation grooves 15, which extend circumferentially along the inner wall of the support assembly 11. This allows the support assembly 11 to deform to a greater extent.

[0097] like Figure 1 and Figure 2 As shown in the embodiments, this application also provides a robot 1. Robot 1 includes: a head shell assembly 20, a torso shell assembly 30, and a neck shell assembly 10 mentioned in the above embodiments.

[0098] The head housing assembly 20 has a first receiving space 200, and the torso housing assembly 30 has a second receiving space 300. The first end 110 of the support assembly of the neck housing assembly 10 is connected to the head housing assembly 20, the second end 111 of the support assembly is connected to the torso housing assembly 30, and the third receiving space 112 of the neck housing assembly 10 communicates with the first receiving space 200 and the second receiving space 300.

[0099] Since the robot 1 includes the neck housing assembly 10, the robot 1 has all the technical features and effects of the neck housing assembly 10, which will not be described in detail here.

[0100] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0101] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0102] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0103] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A neck housing assembly, characterized in that, Applied to a robot, the robot includes a head shell assembly and a torso shell assembly, the head shell assembly having a first receiving space, the torso shell assembly having a second receiving space, and the neck shell assembly including: A support assembly, the support assembly having a first annular tubular shape, the support assembly having a third receiving space, a first end and a second end of the support assembly being disposed opposite to each other along a first direction, the first end of the support assembly being used to connect to the head shell assembly, the second end of the support assembly being used to connect to the torso shell assembly, the third receiving space being able to communicate with the first receiving space and the second receiving space, and the outer wall of the support assembly having a plurality of first deformation grooves extending circumferentially along the outer wall of the support assembly; A flexible wrapping component, the shape of which includes a second annular tube, is sleeved on the outside of the support component, a first end of the flexible wrapping component is connected to a first end of the support component, and a second end of the flexible wrapping component is connected to a second end of the support component.

2. The neck housing assembly according to claim 1, characterized in that, The first end of the support component has a first opening, which is used to connect the third accommodating space and the first accommodating space. The first end of the flexible wrapping extends into the third accommodating space through the first opening and is connected to the inner wall of the support component. Both the first end of the support component and the first end of the flexible wrapping are used to connect to the head shell component.

3. The neck housing assembly according to claim 2, characterized in that, The head housing assembly includes at least one first positioning portion on the side facing the neck housing assembly; The first end of the flexible package has at least one first through hole; The support components include: A first support member, the shape of which includes a third annular tube, the first support member having the third receiving space, the first end and the second end of the first support member being disposed opposite to each other along the first direction, the first support member being an elastic body, the outer wall of the first support member having a plurality of first deformation grooves, the first deformation grooves extending circumferentially along the outer wall of the first support member, and the first end of the first support member having the first opening. A first connector, the first connector having a first annular structure, the first connector being connected to a first end of the first support member, the first connector including at least one second positioning part, the second positioning part being able to pass through the first through hole and engage with the first positioning part in a concave-convex fit, or the first positioning part being able to pass through the first through hole and engage with the second positioning part in a concave-convex fit, wherein the first connector and the flexible wrapping member are able to be connected to the head shell assembly.

4. The neck housing assembly according to claim 3, characterized in that, The first positioning part is located on the inner wall of the head housing assembly; The first connector is sleeved on the outside of the first support member, and the second positioning part is located on the side of the first connector opposite to the first support member.

5. The neck housing assembly according to claim 1, characterized in that, The head housing assembly includes at least one connecting portion on the side facing the neck housing assembly; The support components include: The second support member has a fourth annular tubular shape, the second support member has the third receiving space, the first end and the second end of the second support member are arranged opposite to each other along the first direction, the second support member is an elastic body, the outer wall of the second support member has a plurality of first deformation grooves, the first deformation grooves extend circumferentially along the outer wall of the second support member, and the first end of the second support member has at least one second through hole. The second connector has a shape including a second annular structure. The second connector is wound around the first end of the flexible wrapping at least once. The second connector has at least one third through hole. The flexible wrapping has at least two fourth through holes. At least one locking member, the first end of which abuts against the inner wall of the second support member, and the second end of which can pass through the second through hole, the third through hole and at least two fourth through holes to connect with the connecting part.

6. The neck housing assembly according to claim 5, characterized in that, The connecting portion is located on the inner wall of the head housing assembly; The second connector, which is wrapped at least once around the first end of the flexible wrapping member, is fitted onto the outside of the second support member.

7. The neck housing assembly according to any one of claims 1 to 6, characterized in that, The support components include: The third support member has a fifth annular tubular shape, has the third receiving space, and its first end and second end are arranged opposite to each other along the first direction. The third support member is an elastic body, and its outer wall has a plurality of first deformation grooves, which extend circumferentially along the outer wall of the third support member. The third connector has a shape including a third annular structure. The circumference of the third annular structure is parallel to the circumference of the second end of the third support. The first side and the second side of the third connector are arranged opposite to each other along the first direction. The first side of the third connector is connected to the second end of the third support. The second side of the third connector is used to connect to the torso shell assembly. The flexible wrapping is sleeved on the outside of the third support and the third connector, and the second end of the flexible wrapping is connected to the side of the third connector facing the torso shell assembly.

8. The neck housing assembly according to claim 7, characterized in that, The torso housing assembly further includes at least one first magnetic body located on the side of the torso housing assembly facing the third connector; the neck housing assembly further includes at least one second magnetic body disposed on a second side of the third connector for attracting the first magnetic body. And / or, The torso housing assembly further includes: at least one third positioning part located on the side of the torso housing assembly facing the third connector; the second side of the third connector includes at least one fourth positioning part, which is capable of engaging with the third positioning part.

9. The neck housing assembly according to any one of claims 1 to 6, characterized in that, The flexible wrapping material is spandex, nylon, polyester, or modal; And / or, The support assembly includes a bellows, the outer wall of which has the first deformation groove.

10. A robot, characterized in that, include: The head housing assembly has a first receiving space; The torso shell assembly has a second receiving space; The neck housing assembly according to any one of claims 1 to 9, wherein a first end of a support component of the neck housing assembly is connected to the head housing assembly, a second end of the support component is connected to the torso housing assembly, and a third receiving space of the neck housing assembly communicates with the first receiving space and the second receiving space.

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