Head structure of a robot

Abstract

The embodiment of the application provides a head structure of a robot, and belongs to the technical field of robots. A first driving member comprises a first output shaft and a first driving host, and the first driving host has a first reference hole; a second driving member comprises a second output shaft and a second driving host, and the second driving host has a second reference hole; the first output shaft and the second output shaft intersect; a head main body has a third reference hole; one of the first output shaft and the second output shaft is connected with the head main body; the other of the first output shaft and the second output shaft is connected with the corresponding first driving host or the corresponding second driving host; the first reference hole, the second reference hole and the third reference hole are coaxially arranged; and the first output shaft and the second output shaft are both at a rotating reference position. Through one-time calibration operation, the first output shaft and the second output shaft can be simultaneously at the rotating reference position, so that the calibration steps of the reference position of the head structure are simplified.

Description

Technical Field

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

[0002] In robot applications, to improve the accuracy of robot movement, a reference position is typically set for the robot. The reference position is the initial position of the robot's manipulating model and serves as the baseline for the robot's coordinate system. Without a reference position, the robot cannot determine its own position. During robot operation, collisions with workpieces or the environment can cause the reference position to shift, affecting the robot's positioning accuracy.

[0003] In related technologies, before operating a robot, the head structure must first be accurately calibrated to a reference position, which is a complicated process. Utility Model Content

[0004] To address the related technical problems, this application aims to provide a robot head structure to simplify the calibration of the reference position of the robot's head structure.

[0005] The technical solution of this application embodiment is implemented as follows:

[0006] The first aspect of this application provides a robot head structure, including:

[0007] The first driving component includes a first output shaft and a first driving host for driving the first output shaft to rotate, the first driving host having a first reference hole;

[0008] The second driving component includes a second output shaft and a second driving host for driving the second output shaft to rotate. The second driving host has a second reference hole, and the first output shaft and the second output shaft intersect.

[0009] The head body has a third reference hole. One of the first output shaft and the second output shaft is connected to the head body. The other of the first output shaft and the second output shaft is connected to the corresponding first drive host or the corresponding second drive host. The first reference hole, the second reference hole and the third reference hole are arranged coaxially. The first output shaft and the second output shaft are both in a rotational reference position.

[0010] In some embodiments, the diameters of the first reference hole, the second reference hole, and the third reference hole are the same.

[0011] In some embodiments, the head structure further includes a pin, the diameter of which is the same as the diameter of the first reference hole, and the pin portion is located within the first reference hole, the second reference hole, and the third reference hole, which are coaxially arranged.

[0012] In some embodiments, the first drive host and the second drive host are arranged axially along the first output shaft. When the first reference hole, the second reference hole and the third reference hole are arranged coaxially, the first reference hole, the second reference hole and the third reference hole are located on the same side of the first drive host in the radial direction along the first output shaft.

[0013] In some embodiments, the second drive host is located at one end of the first drive host along the axial direction of the first output shaft, the first output shaft is connected to the second drive host, and the second output shaft is connected to the head body.

[0014] In some embodiments, the first drive host includes a first bracket and a first body that drives the first output shaft to rotate, the first body is mounted on the first bracket, and the first reference hole is formed in the first bracket;

[0015] The second drive host includes a second bracket and a second main body for driving the second output shaft to rotate. The second main body is mounted on the second bracket, the first output shaft is connected to the second bracket, and the second reference hole is formed in the second bracket.

[0016] The head body includes a third bracket and a third body, the third body is mounted on the third bracket, the second output shaft is connected to the third bracket, and the third reference hole is formed in the third bracket;

[0017] At least one of the first bracket, the second bracket, and the third bracket is an integrally formed structure.

[0018] In some embodiments, the first bracket includes a base plate and N opposing first side plates, the N first side plates being disposed on the base plate, the first body being connected to each of the N first side plates, the first body being at least partially located between the N first side plates, the base plate being located on the side of the first body opposite to the second body, the first reference hole being formed in one of the first side plates, and N being an integer greater than or equal to 2.

[0019] In some embodiments, the third bracket has a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion being disposed opposite each other along the axial direction of the second output shaft, the second body being at least partially located between the first mounting portion and the second mounting portion, the first mounting portion being connected to the second output shaft, and the second body being rotatably connected to the second mounting portion at one end along the axial direction of the second output shaft away from the second output shaft.

[0020] In some embodiments, the third body includes a fourth bracket and a functional module, the functional module is mounted on the fourth bracket, the fourth bracket is connected to the third bracket, and the fourth bracket is a frame structure.

[0021] In some embodiments, the third body further includes a counterweight module, and the functional module is disposed on one side of the fourth bracket along a preset direction. The counterweight module is located on the side of the fourth bracket away from the functional module along the preset direction. The preset direction intersects the axial direction of the first output shaft and the axial direction of the second output shaft.

[0022] The robot head structure provided in this application embodiment has a first driving member driving the head body to rotate axially around a first output shaft, and a second driving member driving the head body to rotate axially around a second output shaft. The first and second output shafts intersect, resulting in good flexibility of the head structure. The first, second, and third reference holes are coaxially arranged. A single calibration operation aligns these reference holes, allowing the first and second output shafts to simultaneously occupy rotational reference positions. This simplifies the calibration process by eliminating the need for multiple separate calibration operations on the first and second output shafts. Furthermore, using the first, second, and third reference holes for calibration eliminates the need for four separate reference holes, reducing the number of reference holes and improving the stability of the head structure's reference position calibration. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the head structure of a robot according to an embodiment of this application, showing the second mounting part;

[0024] Figure 2 This is a schematic diagram of the head structure of the robot according to an embodiment of this application, where the second mounting part is not shown.

[0025] Figure 3 This is a schematic diagram of the head structure of the robot according to an embodiment of this application, where the pin is not shown.

[0026] Figure 4 This is an exploded view of the head structure of the robot according to an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures

[0028] 1. First driving component; 11. First output shaft; 12. First driving host; 121. First reference hole; 122. First bracket; 1221. First side plate; 1222. Base plate; 123. First main body; 2. Second driving component; 21. Second output shaft; 22. Second driving host; 221. Second reference hole; 222. Second bracket; 2221. Second side plate; 2222. Base; 223. Second main body; 3. Head main body; 31. Third reference hole; 32. Third bracket; 321. First mounting part; 322. Second mounting part; 33. Third main body; 331. Fourth bracket; 332. Functional module; 333. Counterweight module; 4. Pin shaft. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0030] The specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction. For example, different combinations of specific technical features can form different embodiments and technical solutions. To avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0031] In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate that the objects have the sameness or relationship. It should be understood that the directional descriptions "above," "below," "outside," and "inside" refer to the directions in normal use, while "left" and "right" refer to the left and right directions shown in the corresponding diagrams, which may or may not be the left and right directions in normal use.

[0032] It should be noted that 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 that element. "A plurality of" means two or more.

[0033] In related technologies, the robot's head structure includes a first drive component and a second drive component. The first output shaft of the first drive component and the second output shaft of the second drive component intersect, enabling the robot's head structure to move in two different directions. However, calibrating the reference position of the robot's head structure requires separately calibrating the first and second output shafts to the reference position, making the calibration of the robot's head structure cumbersome.

[0034] This application provides an embodiment of a robot head structure; please refer to [link to relevant documentation]. Figures 1-4 The head structure includes a first driving member 1, a second driving member 2, and a head body 3. The first driving member 1 includes a first output shaft 11 and a first driving host 12 that drives the first output shaft 11 to rotate. The first driving host 12 has a first reference hole 121. The second driving member 2 includes a second output shaft 21 and a second driving host 22 that drives the second output shaft 21 to rotate. The second driving host 22 has a second reference hole 221. The first output shaft 11 and the second output shaft 21 intersect. The head body 3 has a third reference hole 31. One of the first output shaft 11 and the second output shaft 21 is connected to the head body 3, and the other of the first output shaft 11 and the second output shaft 21 is connected to the corresponding first driving host 12 or the corresponding second driving host 22. The first reference hole 121, the second reference hole 221, and the third reference hole 31 are arranged coaxially. The first output shaft 11 and the second output shaft 21 are both in a reference position for rotation.

[0035] It should be noted that the intersection of the first output shaft 11 and the second output shaft 21 means that the first output shaft 11 and the second output shaft 21 are not parallel.

[0036] For example, the first output shaft 11 and the second output shaft 21 are perpendicular.

[0037] It should be noted that when one of the first output shaft 11 and the second output shaft 21 is connected to the head body 3, and the other of the first output shaft 11 and the second output shaft 21 is connected to the corresponding first drive host 12 or the corresponding second drive host 22, it means that when the first output shaft 11 is connected to the head body 3, the second output shaft 21 is correspondingly connected to the first drive host 12, and the first drive host 12 rotates with the second output shaft 21; when the second output shaft 21 is connected to the head body 3, the first output shaft 11 is correspondingly connected to the second drive host 22, and the second drive host 22 rotates with the first output shaft 11.

[0038] It should be noted that the reference position for the rotation of the first output shaft 11 and the second output shaft 21 refers to the initial position of the first output shaft 11 and the second output shaft 21. All subsequent movements of the robot head structure will be calculated and adjusted based on the reference position.

[0039] It should be noted that when both the first output shaft 11 and the second output shaft 21 are at the reference position of rotation, the robot's head structure is at the reference position, that is, the robot's head structure is at the zero position.

[0040] It should be noted that the first reference hole 121, the second reference hole 221, and the third reference hole 31 will be coaxial when both the first output shaft 11 and the second output shaft 21 are in the reference position of rotation. When the first output shaft 11 rotates away from the reference position, the second reference hole 221 will rotate accordingly and will not be coaxial with the first reference hole 121. When the second output shaft 21 rotates away from the reference position, the third reference hole 31 will rotate accordingly and will not be coaxial with the first reference hole 121.

[0041] For example, the first driving element 1 is a motor.

[0042] For example, the second driving element 2 is a motor.

[0043] In this embodiment, the first driving member 1 drives the head body 3 to rotate axially around the first output shaft 11, and the second driving member 2 drives the head body 3 to rotate axially around the second output shaft 21. The first output shaft 11 and the second output shaft 21 intersect, resulting in good flexibility of the head structure. The first reference hole 121, the second reference hole 221, and the third reference hole 31 are coaxially arranged. By aligning the first reference hole 121, the second reference hole 221, and the third reference hole 31 coaxially in a single calibration operation, the first output shaft 11 and the second output shaft 21 can be simultaneously in the reference position of rotation. This allows for the calibration of the reference position of the head structure without the need for multiple separate calibration operations on the first output shaft 11 and the second output shaft 21, simplifying the calibration steps. Using the first reference hole 121, the second reference hole 221, and the third reference hole 31 for calibration of the first output shaft 11 and the second output shaft 21 eliminates the need for four reference holes for calibrating the reference positions of the first output shaft 11 and the second output shaft 21, reducing the number of reference holes and improving the stability of the reference position calibration of the head structure.

[0044] For ease of explanation, as shown in the figure, the direction indicated by arrow R1 is the axial direction of the first output shaft 11, the direction indicated by arrow R2 is the axial direction of the second output shaft 21, and the direction indicated by arrow R3 is the preset direction.

[0045] In some embodiments, please refer to Figures 1-4 The diameters of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are the same.

[0046] It should be noted that the same diameter for the first reference hole 121, the second reference hole 221, and the third reference hole 31 means that the absolute value of the difference between the diameters of the first reference hole 121 and the second reference hole 221 is 0 to 10% of the arithmetic mean of the diameters of the first reference hole 121 and the second reference hole 221; the absolute value of the difference between the diameters of the first reference hole 121 and the third reference hole 31 is 0 to 10% of the arithmetic mean of the diameters of the first reference hole 121 and the third reference hole 31; and the absolute value of the difference between the diameters of the third reference hole 31 and the second reference hole 221 is 0 to 10% of the arithmetic mean of the diameters of the third reference hole 31 and the second reference hole 221.

[0047] In this embodiment, the diameters of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are the same. By determining that the walls of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are basically aligned, it can be determined that the first reference hole 121, the second reference hole 221, and the third reference hole 31 are coaxial. It is also relatively easy to determine whether the diameters of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are coaxial.

[0048] It is understood that the diameters of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are not necessarily the same. For example, the diameters of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are different.

[0049] In some embodiments, please refer to Figures 1-4 The head structure also includes a pin 4, the diameter of which is the same as the diameter of the first reference hole 121. The pin 4 is located in the first reference hole 121, the second reference hole 221 and the third reference hole 31, which are coaxially arranged.

[0050] It should be noted that the fact that the diameter of the pin 4 is the same as the diameter of the first reference hole 121 means that the ratio of the absolute value of the difference between the diameter of the pin 4 and the diameter of the first reference hole 121 to the arithmetic mean of the diameter of the pin 4 and the diameter of the first reference hole 121 is 0 to 10%.

[0051] It should be noted that when calibrating the reference positions of the first output shaft 11 and the second output shaft 21, the pin 4 is inserted into the first reference hole 121, the second reference hole 221 and the third reference hole 31, so that the pin 4 is partially located in the first reference hole 121, the second reference hole 221 and the third reference hole 31. After the calibration of the reference positions of the first output shaft 11 and the second output shaft 21 is completed, the pin 4 is pulled out from the first reference hole 121, the second reference hole 221 and the third reference hole 31. The pin 4 is located in the first reference hole 121, the second reference hole 221 and the third reference hole 31.

[0052] In this embodiment, the diameters of the first reference hole 121, the second reference hole 221, and the third reference hole 31 are the same. The diameter of the pin 4 is the same as the diameter of the first reference hole 121, and also the same as the diameters of the second reference hole 221 and the third reference hole 31. When the pin 4 is partially located within the first reference hole 121, the second reference hole 221, and the third reference hole 31, the circumferential sidewall of the pin 4 contacts the hole walls of the first reference hole 121, the second reference hole 221, and the third reference hole 31, causing the axes of the first reference hole 121, the second reference hole 221, and the third reference hole 31 to simultaneously coincide with the axis of the pin 4, thereby enabling the first reference hole 121, the second reference hole 221, and the third reference hole 31 to be coaxially arranged. Positioning the first reference hole 121, the second reference hole 221, and the third reference hole 31 using the pin 4, and ensuring their coaxial arrangement, is simple and convenient.

[0053] It is understood that the first reference hole 121, the second reference hole 221, and the third reference hole 31 are not limited to being coaxially arranged via pin 4. Exemplarily, a laser detector detects the alignment of the axes of the first reference hole 121, the second reference hole 221, and the third reference hole 31.

[0054] In some embodiments, please refer to Figures 1-4 The first drive host 12 and the second drive host 22 are arranged along the axial direction of the first output shaft 11. When the first reference hole 121, the second reference hole 221 and the third reference hole 31 are arranged coaxially, the first reference hole 121, the second reference hole 221 and the third reference hole 31 are located on the same side of the first drive host 12 in the radial direction along the first output shaft 11.

[0055] In this embodiment, when the first reference hole 121, the second reference hole 221, and the third reference hole 31 are arranged coaxially, the first reference hole 121, the second reference hole 221, and the third reference hole 31 are located on the same side of the first drive host 12 in the radial direction along the first output shaft 11, which reduces the possibility of the first reference hole 121, the second reference hole 221, and the third reference hole 31 being blocked. The first drive host 12 and the second drive host 22 do not need to be provided with a clearance structure, making the structure of the first drive host 12 and the second drive host 22 simpler.

[0056] It is understood that the first reference hole 121, the second reference hole 221, and the third reference hole 31 are not limited to being located on the same side of the first drive host 12 in the radial direction along the first output shaft 11. Exemplarily, the first reference hole 121 is located on one side of the first drive host 12 in the radial direction along the first output shaft 11, and the second reference hole 221 and the third reference hole 31 are located on the other side of the first drive host 12 in the radial direction along the first output shaft 11.

[0057] In some embodiments, along the radial direction of the first output shaft 11, the second reference hole 221 and the third reference hole 31 are both located on the side of the first reference hole 121 away from the first drive host 12, and the first reference hole 121, the second reference hole 221 and the third reference hole 31 are arranged in sequence.

[0058] In some embodiments, please refer to Figures 1-4 The second drive host 22 is located at one end of the first drive host 12 along the axial direction of the first output shaft 11. The first output shaft 11 is connected to the second drive host 22, and the second output shaft 21 is connected to the head body 3.

[0059] For example, the axis of the first output shaft 11 coincides with the vertical direction of the robot, and the first output shaft 11 drives the head body 3 to rotate in the horizontal plane.

[0060] For example, the axis of the second output shaft 21 coincides with the left and right direction of the robot, and the second output shaft 21 drives the head body 3 to perform head-up and head-down movements.

[0061] In this embodiment, the second drive host 22 is located at one end of the first drive host 12 along the axial direction of the first output shaft 11, and the first output shaft 11 is connected to the second drive host 22. The second output shaft 21 is connected to the head body 3, so that the center of gravity of the head body 3 is closer to the second output shaft 21, which reduces the torque required for the head body 3 to rotate around the second output shaft 21, and helps to reduce the load on the second drive component 2.

[0062] It is understood that the first output shaft 11 is not limited to being connected to the second drive host 22, and the second output shaft 21 is not limited to being connected to the head body 3. For example, the second output shaft 21 is connected to the first drive host 12, and the first output shaft 11 is connected to the head body 3.

[0063] In some embodiments, please refer to Figures 1-4 The first drive host 12 includes a first bracket 122 and a first body 123 that drives the first output shaft 11 to rotate. The first body 123 is mounted on the first bracket 122, and a first reference hole 121 is formed in the first bracket 122. The second drive host 22 includes a second bracket 222 and a second body 223 that drives the second output shaft 21 to rotate. The second body 223 is mounted on the second bracket 222, the first output shaft 11 is connected to the second bracket 222, and a second reference hole 221 is formed in the second bracket 222. The head body 3 includes a third bracket 32 ​​and a third body 33. The third body 33 is mounted on the third bracket 32, the second output shaft 21 is connected to the third bracket 32, and a third reference hole 31 is formed in the third bracket 32. At least one of the first bracket 122, the second bracket 222, and the third bracket 32 ​​is an integrally formed structure.

[0064] For example, the first support 122 is a one-piece molded structure.

[0065] For example, the second support 222 is a one-piece molded structure.

[0066] For example, the third support 32 is a one-piece molded structure.

[0067] In this embodiment, a first reference hole 121 is formed on a first bracket 122, a second reference hole 221 is formed on a second bracket 222, and a third reference hole 31 is formed on a third bracket 32. At least one of the first bracket 122, the second bracket 222, and the third bracket 32 ​​is an integrally formed structure, which reduces the number of components required to set at least one of the first reference hole 121, the second reference hole 221, and the third reference hole 31. The reduction in the number of components reduces the mass of the head structure. The reduction in the number of components helps to reduce assembly errors and reduce the impact of assembly errors on the calibration of the reference position of the head structure. The reduction in the number of components makes the overall integrity of the head structure better and helps to improve the overall rigidity of the head structure.

[0068] It is understood that at least one of the first bracket 122, the second bracket 222, and the third bracket 32 ​​is not limited to being a one-piece structure. For example, the first bracket 122 includes a first main bracket and a first reference member mounted on the first main bracket. The first reference member and the first main bracket are manufactured and assembled independently, and a first reference hole 121 is formed in the first reference member.

[0069] For example, the second bracket 222 includes a second main bracket and a second reference member mounted on the second main bracket. The first reference member and the first main bracket are manufactured and assembled independently. The second reference hole 221 is formed in the second reference member.

[0070] For example, the third bracket 32 ​​includes a third main bracket and a third reference member mounted on the third main bracket. The third reference member and the third main bracket are manufactured and assembled independently. The third reference hole 31 is formed in the third reference member.

[0071] It is understood that the first reference hole 121 is not limited to being formed in the first bracket 122, the second reference hole 221 is not limited to being formed in the second bracket 222, and the third reference hole 31 is not limited to being formed in the third bracket 32. Exemplarily, the first reference hole 121 is formed in the first body 123. Exemplarily, the second reference hole 221 is formed in the second body 223. Exemplarily, the third reference hole 31 is formed in the third body 33.

[0072] In some embodiments, please refer to Figures 1-4 The first support 122, the second support 222 and the third support 32 are all integrally formed structures.

[0073] It should be noted that the first support 122, the second support 222 and the third support 32 are all integrally formed structures, meaning that the first support 122, the second support 222 and the third support 32 are each integrally formed, and the first support 122, the second support 222 and the third support 32 are independently manufactured and can move between each other.

[0074] In this embodiment, the first bracket 122, the second bracket 222, and the third bracket 32 ​​are all integrally formed structures. Setting the first reference hole 121, the second reference hole 221, and the third reference hole 31 does not require additional parts, further reducing the number of parts and the mass of the head structure. The reduction in the number of parts helps to reduce assembly errors and the impact of assembly errors on the calibration of the reference position. The reduction in the number of parts makes the overall integrity of the head structure better and helps to improve the overall rigidity of the head structure.

[0075] It is understood that the first support 122, the second support 222, and the third support 32 are not necessarily all integrally formed structures. For example, the first support 122 is an integrally formed structure, while the second support 222 and the third support 32 are not integrally formed structures.

[0076] In some embodiments, please refer to Figures 1-4The first support 122 includes a base plate 1222 and N opposing first side plates 1221. The N first side plates 1221 are disposed on the base plate 1222. The first main body 123 is connected to the N first side plates 1221 respectively. The first main body 123 is at least partially located between the N first side plates 1221. The base plate 1222 is located on the side of the first main body 123 away from the second main body 223. The first reference hole 121 is formed in one of the first side plates 1221. N is an integer greater than or equal to 2.

[0077] For example, N equals 2.

[0078] For example, N is equal to 3 or 4.

[0079] For example, the first support 122 is generally U-shaped.

[0080] For example, the first body 123 and the first side plate 1221 are bolted together.

[0081] In this embodiment of the application, N first side plates 1221 are arranged opposite to each other, and the first main body 123 is connected to the N first side plates 1221 respectively. The first main body 123 is at least partially located between the N first side plates 1221, so that the opposite sides of the first main body 123 are fixedly connected to the first side plates 1221, thereby improving the stability of the first main body 123.

[0082] It is understood that the first support 122 is not limited to including a base plate 1222 and N opposing first side plates 1221. For example, the first support 122 does not have first side plates 1221, and the first body 123 is connected to the base plate 1222.

[0083] For example, the first side plate 1221 has weight-reducing holes.

[0084] For example, the base plate 1222 has weight-reducing holes.

[0085] In some embodiments, please refer to Figures 1-4 The second bracket 222 includes a base 2222 and N opposing second side plates 2221. The N second side plates 2221 are disposed on the base 2222. The second body 223 is connected to the N second side plates 2221 respectively. The second body 223 is at least partially located between the N second side plates 2221. The base 2222 is connected to the first output shaft 11. The second reference hole 221 is formed on the side of the base 2222 away from the second side plates 2221. N is an integer greater than or equal to 2.

[0086] For example, N equals 2.

[0087] For example, N is equal to 3 or 4.

[0088] For example, the second support 222 is generally U-shaped.

[0089] For example, the second body 223 and the first side plate 1221 are bolted together.

[0090] In this embodiment, N second side plates 2221 are arranged opposite to each other, and the second main body 223 is connected to the N second side plates 2221 respectively. The second main body 223 is at least partially located between the N second side plates 2221, so that both sides of the second main body 223 are fixedly connected to the second side plates 2221, thereby improving the stability of the second main body 223.

[0091] It is understood that the second bracket 222 is not limited to including the base 2222 and N opposingly arranged second side plates 2221. Exemplarily, the second bracket 222 does not have second side plates 2221, and the first body 123 is connected to the base 2222.

[0092] For example, the second side plate 2221 has weight-reducing holes.

[0093] For example, the base 2222 has weight-reducing holes.

[0094] In some embodiments, please refer to Figures 1-4 The third bracket 32 ​​has a first mounting portion 321 and a second mounting portion 322. The first mounting portion 321 and the second mounting portion 322 are arranged opposite each other along the axial direction of the second output shaft 21. The second body 223 is at least partially located between the first mounting portion 321 and the second mounting portion 322. The first mounting portion 321 is connected to the second output shaft 21. The end of the second body 223 facing away from the second output shaft 21 along the axial direction of the second output shaft 21 is rotatably connected to the second mounting portion 322.

[0095] For example, the first mounting part 321 is bolted to the second output shaft 21.

[0096] For example, the second body 223 is connected to the second mounting part 322 via a bearing at one end opposite to the second output shaft 21 along the axial direction of the second output shaft 21.

[0097] For example, the third support 32 is generally U-shaped.

[0098] In this embodiment, the first mounting part 321 is connected to the second output shaft 21, the second body 223 is rotatably connected to the second mounting part 322 at one end away from the second output shaft 21 along the axial direction of the second output shaft 21, and the third bracket 32 ​​is supported at both ends along the axial direction of the second output shaft 21, which improves the rigidity and stability of the third bracket 32, thereby improving the stability of the third body 33 connected to the third bracket 32.

[0099] It is understood that, not limited to the connection between the first mounting portion 321 and the second output shaft 21, the second body 223 is rotatably connected to the second mounting portion 322 at one end along the axial direction of the second output shaft 21, away from the second output shaft 21. For example,

[0100] For example, the third support 32 has weight-reducing holes.

[0101] In some embodiments, please refer to Figures 1-4 The third main body 33 includes a fourth support 331 and a functional module 332. The functional module 332 is installed on the fourth support 331. The fourth support 331 is connected to the third support 32. The fourth support 331 is a frame structure.

[0102] For example, the third bracket 32 ​​is bolted to the fourth bracket 331.

[0103] For example, functional module 332 is bolted to the fourth bracket 331.

[0104] For example, functional module 332 is a camera or a screen.

[0105] In this embodiment, the fourth support 331 is a frame structure, which significantly reduces the mass of the third main body 33, thereby reducing the overall mass of the head structure. The functional module 332 is installed on the fourth support 331, making the third main body 33 a whole and improving the stability of the head structure.

[0106] It is understood that the fourth support 331 is not limited to a frame structure. For example, the fourth support 331 is a shell structure.

[0107] For example, the fourth support 331 and the third support 32 are integrally formed structures.

[0108] In some embodiments, please refer to Figures 1-4 The third main body 33 also includes a counterweight module 333. A functional module 332 is provided on one side of the fourth support 331 along a preset direction. The counterweight module 333 is located on the side of the fourth support 331 away from the functional module 332 along a preset direction. The preset direction intersects with the axial direction of the first output shaft 11 and the preset direction intersects with the axial direction of the second output shaft 21.

[0109] It should be noted that the functional module 332 can be set only on one side of the fourth bracket 331 along the preset direction, or the functional module 332 can be partially set on one side of the fourth bracket 331 along the preset direction and partially set on both sides of the fourth bracket 331 along the axial direction of the second output shaft 21.

[0110] It should be noted that the intersection of the preset direction and the axis of the first output shaft 11 means that the preset direction is not parallel to the axis of the first output shaft 11. The intersection of the preset direction and the axis of the second output shaft 21 means that the preset direction is not parallel to the axis of the second output shaft 21.

[0111] For example, the preset direction is perpendicular to the axis of the first output shaft 11 and the preset direction is perpendicular to the axis of the second output shaft 21.

[0112] For example, the axis of the first output shaft 11 coincides with the vertical direction of the robot, the axis of the second output shaft 21 coincides with the horizontal direction of the robot, and the preset direction coincides with the front-back direction of the robot.

[0113] For example, functional module 332 includes a camera and a screen.

[0114] For example, the screen is located on the front side of the fourth bracket 331, the camera is located on the front side and / or the left and right sides of the fourth bracket 331, and the counterweight module 333 is located on the rear side of the fourth bracket 331.

[0115] For example, the counterweight module 333 is disposed below the fourth support 331.

[0116] In this embodiment, a functional module 332 is provided on one side of the fourth support 331 along a preset direction, and a counterweight module 333 is located on the side of the fourth support 331 opposite to the functional module 332 along the preset direction. By setting the counterweight module 333, the position of the center of gravity of the third body 33 is adjusted, so that the center of gravity of the third body 33 is not too close to the side of the fourth support 331 along the preset direction, thereby reducing the distance from the center of gravity of the third body 33 to the second output shaft 21 along the preset direction and reducing the load on the second drive host 22. By adjusting the center of gravity of the third body 33 through the counterweight module 333, the degree of deviation of the center of gravity of the third body 33 is reduced, and the stability of the head structure movement is improved.

[0117] It is understandable that the third body 33 may not have a counterweight module 333.

[0118] In some embodiments, when the counterweight module 333 is located on the side of the fourth support 331 away from the functional module 332 along a preset direction, the counterweight module 333 is located on the side of the fourth support 331 close to the second output shaft 21 along the axial direction of the first output shaft 11.

[0119] This application provides a robot, including:

[0120] Body structure;

[0121] The robot's head structure is connected to its body structure.

[0122] This application provides a method for calibrating the reference position of a robot, including:

[0123] Drive the first output shaft 11 to rotate, so that the second reference hole 221 is coaxial with the first reference hole 121;

[0124] Drive the second output shaft 21 to rotate, so that the third reference hole 31 is coaxial with the second reference hole 221;

[0125] Insert the pin 4 into the first reference hole 121, the second reference hole 221 and the third reference hole 31.

[0126] In this embodiment, when setting or calibrating the reference position of the robot's head structure, it is only necessary to drive the first output shaft 11 to rotate so that the second reference hole 221 is coaxial with the first reference hole 121, and drive the second output shaft 21 to rotate so that the third reference hole 31 is coaxial with the second reference hole 221. After the first reference hole 121, the second reference hole 221, and the third reference hole 31 are all coaxially aligned, the pin 4 is inserted into the first reference hole 121, the second reference hole 221, and the third reference hole 31 to lock the first output shaft 11 and the second output shaft 21, fixing the first output shaft 11 and the second output shaft 21 in the rotating reference position, and then the corresponding reference position calibration operation can be performed. With a single operation, the first output shaft 11 and the second output shaft 21 can be simultaneously in the reference position, reducing the steps of calibrating the first driving member 1 and the second driving member 2 to the reference position, and simplifying the reference position calibration operation of the robot's head structure.

[0127] In some embodiments, the method for calibrating the reference position includes:

[0128] Drive the second output shaft 21 to rotate, so that the third reference hole 31 is coaxial with the second reference hole 221;

[0129] Insert the pin 4 into the third reference hole 31 and the second reference hole 221 to lock the second output shaft 21;

[0130] After locking the second output shaft 21, drive the first output shaft 11 to rotate so that the second reference hole 221 is coaxial with the first reference hole 121.

[0131] The pin 4 is pushed into the first reference hole 121. The pin 4 is located in the third reference hole 31, the second reference hole 221 and the first reference hole 121 to lock the first output shaft 11.

[0132] In this embodiment, the second driving member 2 is first driven to rotate, making the third reference hole 31 coaxial with the second reference hole 221. A pin 4 is then inserted into the third reference hole 31 and the second reference hole 221 to lock the second output shaft 21. Next, the first driving member 1 is driven to rotate, making the second reference hole 221 coaxial with the first reference hole 121. Before the first driving member 1 rotates, the second output shaft 21 is already at the reference position for rotation and locked by the pin 4. The pin 4 restricts the second output shaft 21 from continuing to move, preventing the position of the second output shaft 21 from shifting during the rotation of the first driving member 1. Once the second output shaft 21 is adjusted to its position, it is locked, eliminating the need for multiple adjustments and simplifying the calibration of the robot head structure's reference position.

[0133] In the description of this application, the terms "an embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this application, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine different embodiments or examples described in this application, as well as features of different embodiments or examples.

[0134] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A head structure for a robot, characterized in that, The head structure includes: The first driving component includes a first output shaft and a first driving host for driving the first output shaft to rotate, the first driving host having a first reference hole; The second driving component includes a second output shaft and a second driving host for driving the second output shaft to rotate. The second driving host has a second reference hole, and the first output shaft and the second output shaft intersect. The head body has a third reference hole. One of the first output shaft and the second output shaft is connected to the head body. The other of the first output shaft and the second output shaft is connected to the corresponding first drive host or the corresponding second drive host. The first reference hole, the second reference hole and the third reference hole are arranged coaxially. The first output shaft and the second output shaft are both in a rotational reference position.

2. The head structure according to claim 1, characterized in that, The diameters of the first reference hole, the second reference hole, and the third reference hole are the same.

3. The head structure according to claim 2, characterized in that, The head structure also includes a pin, the diameter of which is the same as the diameter of the first reference hole. The pin portion is located within the first reference hole, the second reference hole, and the third reference hole, which are coaxially arranged.

4. The head structure according to claim 1, characterized in that, The first drive host and the second drive host are arranged along the axial direction of the first output shaft. When the first reference hole, the second reference hole and the third reference hole are arranged coaxially, the first reference hole, the second reference hole and the third reference hole are located on the same side of the first drive host in the radial direction along the first output shaft.

5. The head structure according to any one of claims 1 to 4, characterized in that, The second drive host is located at one end of the first drive host along the axial direction of the first output shaft. The first output shaft is connected to the second drive host, and the second output shaft is connected to the head body.

6. The head structure according to claim 5, characterized in that, The first drive host includes a first bracket and a first body that drives the first output shaft to rotate. The first body is mounted on the first bracket, and the first reference hole is formed in the first bracket. The second drive host includes a second bracket and a second main body for driving the second output shaft to rotate. The second main body is mounted on the second bracket, the first output shaft is connected to the second bracket, and the second reference hole is formed in the second bracket. The head body includes a third bracket and a third body, the third body is mounted on the third bracket, the second output shaft is connected to the third bracket, and the third reference hole is formed in the third bracket; At least one of the first bracket, the second bracket, and the third bracket is an integrally formed structure.

7. The head structure according to claim 6, characterized in that, The first bracket includes a base plate and N opposing first side plates, the N first side plates are disposed on the base plate, the first body is connected to the N first side plates respectively, the first body is at least partially located between the N first side plates, the base plate is located on the side of the first body away from the second body, the first reference hole is formed in one of the first side plates, and N is an integer greater than or equal to 2.

8. The head structure according to claim 6, characterized in that, The third bracket has a first mounting portion and a second mounting portion, the first mounting portion and the second mounting portion are arranged opposite each other along the axial direction of the second output shaft, the second main body is at least partially located between the first mounting portion and the second mounting portion, the first mounting portion is connected to the second output shaft, and the end of the second main body opposite to the second output shaft along the axial direction of the second output shaft is rotatably connected to the second mounting portion.

9. The head structure according to claim 6, characterized in that, The third main body includes a fourth support and a functional module. The functional module is installed on the fourth support, which is connected to the third support. The fourth support is a frame structure.

10. The head structure according to claim 9, characterized in that, The third main body also includes a counterweight module. The functional module is provided on one side of the fourth support along a preset direction. The counterweight module is located on the side of the fourth support away from the functional module along the preset direction. The preset direction intersects the axial direction of the first output shaft and the axial direction of the second output shaft.

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