A robot head structure and a rescue robot

Abstract

The utility model discloses a kind of robot head structure and rescue robot, it is related to robot technical field, and robot head structure includes support assembly and optical assembly, support assembly includes support mechanism, first movable piece and second movable piece, first movable piece and second movable piece are all rotationally connected support mechanism.Optical assembly includes first optical device and second optical device, first optical device is located at first movable piece, and second optical device is located at second movable piece.The bottom of support mechanism can be used to rotationally connect the fuselage of robot, first movable piece and second movable piece are all rotationally connected support mechanism, first optical device and second optical device are respectively rotationally connected first movable piece and second movable piece, so first optical device and second optical device can be respectively controlled by rotating first movable piece and second movable piece to partition, to adjust the working angle of first optical device and second optical device alone, reach the effect of fine control.

Description

Technical Field

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

[0002] Robots are now widely used in our daily lives. Functionally, robots can be categorized into rescue robots, surveying robots, and others. During operation, robots primarily rely on optical devices mounted on their heads, which act as their "eyes" to assist them. These optical devices mainly include cameras or infrared emitters. Robots use these devices to acquire current images or detect objects with heat sources. Furthermore, the robot's head can rotate to adjust the working direction of the optical devices to complete its tasks.

[0003] However, existing robots still have shortcomings. For example, the robot head is a single unit and cannot move in sections. The robot head can only adjust the working direction of all optical components as a whole through the movement of the whole unit. It cannot customize the working direction of a single optical component to achieve precise control. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and propose a robot head structure and rescue robot, which solves the technical problem that in the prior art, the robot head is a whole and cannot be divided into sections for movement. In the robot head, the working direction of all optical devices can only be adjusted as a whole through the movement of the whole, and the working direction of a certain optical device cannot be customized to achieve precise control.

[0005] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, this utility model provides a robot head structure, comprising:

[0007] A support assembly includes a support mechanism, a first movable member, and a second movable member, both of which are rotatably connected to the support mechanism; and

[0008] An optical component includes a first optical element and a second optical element, wherein the first optical element is disposed on the first movable element and the second optical element is disposed on the second movable element.

[0009] In some embodiments, the support mechanism includes a base and a first rotating member, the first rotating member being rotatably connected to the base and capable of rotating about the central axis of the base, and the first movable member and the second movable member being rotatably disposed on the first rotating member.

[0010] In some embodiments, the support mechanism further includes a second rotating member, which is rotatably connected to the first rotating member, and the rotation axis of both is perpendicular to the central axis of the base. Both the first movable member and the second movable member are rotatably connected to the second rotating member.

[0011] In some embodiments, the base includes a rotating seat, a first flange and a second flange, the first flange and the second flange are both disposed on the rotating seat and are spaced apart to form a rotation space, and the second rotating member is located in the rotation space and is rotatably connected to the first flange and the second flange on both sides.

[0012] In some embodiments, the first movable member and the second movable member are respectively rotatably connected to the left and right sides of the second rotating member, and the rotation axes of the two coincide.

[0013] In some embodiments, the second rotating member includes a multi-section telescopic rod that is slidably connected, the telescopic rod at the first end being rotatably connected to the first rotating member, and the telescopic rod at the end being rotatably connected to the first movable member and the second movable member.

[0014] In some embodiments, the first optical device is provided on both opposite sides of the first movable member along its length direction, and the length direction of the first movable member is perpendicular to its rotation axis.

[0015] In some embodiments, the second optical device is provided on both opposite sides of the second movable member along its length direction, and the length direction of the second movable member is perpendicular to its rotation axis.

[0016] In some embodiments, the first optical device is an infrared camera, and the second optical device is a night vision camera.

[0017] Secondly, this utility model also provides a rescue robot, including a body, legs, arms and the aforementioned robot head structure. The robot head structure is rotatably disposed on the top of the body, the arms are disposed on the side of the body, and the legs are disposed on the bottom of the body.

[0018] Compared with the prior art, the robot head structure provided by this utility model can be used as the head of a robot. The bottom of the support mechanism can be rotatably connected to the robot body. The first movable part and the second movable part are both rotatably connected to the support mechanism. The first optical device and the second optical device are rotatably connected to the first movable part and the second movable part, respectively. Therefore, the first optical device and the second optical device can be controlled separately by rotating the first movable part and the second movable part, so as to adjust the working angle of the first optical device and the second optical device individually and achieve the effect of fine control. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the robot head structure provided in one embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the robot head structure provided in another embodiment of the present invention from another perspective;

[0021] Figure 3 This is a structural schematic diagram of the rescue robot provided in an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0023] To address the technical problem that existing technologies treat the robot head as a single unit, which cannot be divided into sections for movement, and where the working direction of all optical components can only be adjusted as a whole without the ability to customize the working direction of a specific optical component for precise control, this invention provides a robot head structure that enables individual control of multiple optical components within the robot head, thereby achieving a precise control effect.

[0024] It should be noted that the robot head structure described in this utility model is used in, but not limited to, rescue robots. For ease of explanation, this utility model only uses the application of the robot head structure in a rescue robot as an example. The principle of the robot head structure applied to other types of equipment is essentially the same as that applied to rescue robots, and will not be elaborated here.

[0025] Please see Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the robot head structure in one embodiment of the present invention. The robot head structure 100 includes a support assembly 1 and an optical assembly 2. The support assembly 1 includes a support mechanism 11, a first movable member 12, and a second movable member 13. Both the first movable member 12 and the second movable member 13 are rotatably connected to the support mechanism 11. The optical assembly 2 includes a first optical element 21 and a second optical element 22. The first optical element 21 is disposed on the first movable member 12, and the second optical element 22 is disposed on the second movable member 13.

[0026] In this embodiment, the first movable member 12 and the second movable member 13 are rotatably disposed on both sides of the support mechanism 11. The first optical device 21 and the second optical device 22 are respectively disposed on the first movable member 12 and the second movable member 13. The first movable member 12 or the second movable member 13 can be rotated independently to control the rotation of the first optical device 21 or the second optical device 22 independently and adjust the working angle of the first optical device 21 and the second optical device 22 independently to achieve the effect of fine control.

[0027] In practical applications, such as rescue scenarios, rescue robots need to use different types of optical devices simultaneously to acquire information. Assuming the first optical device 21 is an infrared camera used to detect heat sources, such as detecting trapped personnel in rubble, the second optical device 22 could be a night vision camera used to observe details in low-light environments. By rotating the first movable part 12 and the second movable part 13 respectively, the working angles of the infrared camera and the night vision camera can be adjusted independently without moving the robot's head as a whole. In this way, the rescue robot can flexibly adjust the direction of the two optical devices while maintaining overall stability, to better adapt to complex rescue environments. For example, when searching for trapped personnel in rubble, it can simultaneously detect and observe from different directions, thereby improving rescue efficiency.

[0028] In one embodiment, please refer to Figure 2 The support mechanism 11 includes a base 111 and a first rotating member 112. The first rotating member 112 is rotatably connected to the base 111 and can rotate around the central axis of the base 111. A first movable member 12 and a second movable member 13 are both rotatably mounted on the first rotating member 112. In this embodiment, the base 111 can be installed on the neck of a robot. The first movable member 12 and the second movable member 13 are both rotatably mounted on the first rotating member 112. The working angles of the first optical device 21 and the second optical device 22 can be adjusted by rotating the first rotating member 112 relative to the base 111. In this embodiment, the central axis of the base 111 can be perpendicular to the ground, so that both the first optical device 21 and the second optical device 22 can rotate along a horizontal plane. For example, the first optical device 21 is an infrared camera, which can rotate 360° circumferentially to scan heat source objects in all directions, providing a large search and rescue range for trapped personnel.

[0029] In one embodiment, please refer to Figure 1The support mechanism 11 also includes a second rotating member 113, which is rotatably connected to the first rotating member 112. The rotation axes of both are perpendicular to the central axis of the base 111. Both the first movable member 12 and the second movable member 13 are rotatably connected to the second rotating member 113. In this embodiment, the addition of the second rotating member 113, in conjunction with the rotation of the first rotating member 112, provides greater flexibility to the robot's head structure. Taking the robot's surveying of complex terrain as an example, the base 111 is fixedly connected to the robot's body. The first rotating member 112 allows the robot's head to rotate 360° horizontally, enabling the robot to quickly scan its surroundings. The vertical rotation function of the second rotating member 113 allows the robot's head to make a wide range of pitch adjustments in the vertical direction. This flexible adjustment capability is particularly important when the robot needs to observe targets at high or low elevations in detail. For example, when surveying the interior of a building, the robot can adjust the angle of the second rotating component 113 so that the optical device can clearly observe the details of the ceiling or the ground. At the same time, the horizontal rotation function of the first rotating component 112 can also allow the robot to quickly switch the observation direction, improving the survey efficiency.

[0030] In one embodiment, please refer to Figure 1 The first rotating component 112 includes a rotating base 114, a first flange 115, and a second flange 116. The rotating base 114 is rotatably engaged with the base 111. The first flange 115 and the second flange 116 are both located on the rotating base 114 and form a rotation space 117 at an interval. The second rotating component 113 is located in the rotation space 117 and is rotatably connected to the first flange 115 and the second flange 116 on both sides. Specifically, bearings 118 are provided inside both the first flange 115 and the second flange 116, and the left and right sides of the second rotating component 113 are connected to two bearings 118 to achieve rotation. In this embodiment, the base 111 has a rotation groove, the rotating base 114 is rotatably engaged in the rotation groove, and the top surface of the rotating base 114 is flush with the top surface of the base 111. A portion of the second rotating component 113 is located in the rotation space 117, which helps to save the space occupied by the second rotating component 113. In addition, the first flange 115 and the second flange 116 are rotatably connected on both sides of the second rotating member 113, which is equivalent to providing two support points for the second rotating member 113, so that the installation of the second rotating member 113 is more secure and can stably drive the optical device to move.

[0031] In one embodiment, please refer to Figure 1The first movable member 12 and the second movable member 13 are rotatably connected to the left and right sides of the second rotating member 113, respectively, and their rotation axes coincide. In this embodiment, the first movable member 12 and the second movable member 13 are located on both sides of the second rotating member 113, so that the first optical device 21 and the second optical device 22 are also located on the left and right sides of the second rotating member 113, and the two optical devices can cooperate to work in the same direction when rotating.

[0032] In one embodiment, the second rotating member 113 includes multiple slidably connected telescopic rods (not shown in the figure). The telescopic rod at the first end is rotatably connected to the first rotating member 112, and the telescopic rod at the end is rotatably connected to the first movable member 12 and the second movable member 13. In this embodiment, the introduction of the telescopic rod structure provides the robot's head structure with a wider field of view, enabling the robot to see higher and farther. When it is necessary to observe distant targets, the telescopic rod can be extended to expand the field of view of the optical devices. For example, in an outdoor environment, when the robot needs to identify distant landmarks or objects, extending the second rotating member 113 can give the optical devices a wider field of view and improve the probability of target recognition.

[0033] In one embodiment, please refer to Figure 2 The first movable member 12 has first optical devices 21 arranged on opposite sides along its length direction, with the length direction of the first movable member 12 perpendicular to its rotation axis. In this embodiment, the diverse configuration and omnidirectional monitoring capability of these optical devices enable the robot to acquire comprehensive information in various environments. Taking the robot's nighttime patrol mission as an example, the infrared camera can detect heat sources from the human body or other objects, and can detect potential intruders or anomalies even in completely dark environments. At the same time, the night vision camera can provide clear images in low-light conditions, helping the robot to identify the shape and details of objects. Since two optical devices are arranged on both the first movable member 12 and the second movable member 13, and they can rotate independently, the robot can monitor different directions simultaneously, achieving omnidirectional coverage. For example, during patrol, one infrared camera can monitor the front, another infrared camera can monitor the rear, and the night vision camera can monitor both sides, ensuring no blind spots. This omnidirectional monitoring capability greatly enhances the application value of the robot in fields such as security monitoring.

[0034] In one embodiment, please refer to Figure 2The second movable member 13 has a second optical device 22 on each of its opposite sides along its length direction, and the length direction of the second movable member 13 is perpendicular to its rotation axis. In this embodiment, the second movable member 13 has a second optical device 22 at both its front and rear ends. For example, when the second optical device 22 is a night vision camera, the robot can observe the scene in front and behind at the same time, so as to obtain a larger observation range.

[0035] Secondly, please refer to Figure 3 This utility model also provides a rescue robot 200, including a body 3, legs 4, arms 5, and the aforementioned robot head structure 100. The robot head structure 100 is rotatably mounted on the top of the body 3, the arms 5 are located on the side of the body 3, and the legs 4 are located at the bottom of the body 3. In this embodiment, the overall robot structure design enables the robot head structure 100 to work collaboratively with the body 3, arms 5, and legs 4. In practical applications, for example, when the rescue robot is performing a task, the robot head structure 100 can flexibly adjust the direction of the optical components according to the situation on site to obtain key information. At the same time, the arms 5 can perform corresponding operations based on the information provided by the head structure, such as grasping objects or performing cleaning work. The legs 4 can adjust the robot's direction of movement and posture based on the observation results of the head structure to ensure that the robot can safely and efficiently reach the target location. For example, at an earthquake rescue site, the optics of the robot's head structure 100 can locate trapped personnel, the robotic arm 5 can clear obstacles hindering rescue efforts, and the robotic legs 4 can adjust the robot's position to get closer to the trapped personnel. This allows the various parts of the robot to work collaboratively, improving rescue efficiency and success rate. It is important to emphasize that the robot's legs 4 and arms 5 automatically control their actions based on the observations from the robot's head structure 100. Their specific working principles and control logic are conventional existing technology, and their details will not be elaborated further.

[0036] To better understand this utility model, the following is combined with... Figures 1 to 3 The technical solution of this utility model is described in detail below:

[0037] The robot head structure 100 provided by this utility model can be used as the head of a rescue robot. The bottom of the support mechanism 11 can be rotatably connected to the robot body 3. The first movable part 12 and the second movable part 13 are both rotatably connected to the support mechanism 11. The first optical device 21 and the second optical device 22 are rotatably connected to the first movable part 12 and the second movable part 13, respectively. Therefore, the first optical device 21 and the second optical device 22 can be controlled separately by rotating the first movable part 12 and the second movable part 13 to adjust the working angle of the first optical device 21 and the second optical device 22 individually, so as to achieve the effect of fine control.

[0038] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A robot head structure, characterized by include: The support assembly includes a support mechanism, a first movable member, and a second movable member, both of which are rotatably connected to the support mechanism. and An optical component includes a first optical element and a second optical element, wherein the first optical element is disposed on the first movable element and the second optical element is disposed on the second movable element.

2. The robot head structure according to claim 1, characterized in that, The support mechanism includes a base and a first rotating member. The first rotating member is rotatably connected to the base and can rotate around the central axis of the base. The first movable member and the second movable member are both rotatably disposed on the first rotating member.

3. The robot head structure according to claim 2, characterized in that, The support mechanism further includes a second rotating member, which is rotatably connected to the first rotating member, and the rotation axis of both is perpendicular to the central axis of the base. Both the first movable member and the second movable member are rotatably connected to the second rotating member.

4. The robot head structure according to claim 3, characterized in that, The first rotating component includes a rotating base, a first flange, and a second flange. The rotating base is rotatably engaged with the base. The first flange and the second flange are both provided on the rotating base and are spaced apart to form a rotation space. The second rotating component is located in the rotation space and is rotatably connected to the first flange and the second flange on both sides.

5. The robot head structure according to claim 3, characterized in that, The first movable member and the second movable member are respectively rotatably connected to the left and right sides of the second rotating member, and the rotation axes of the two coincide.

6. The robot head structure according to claim 3, characterized in that, The second rotating component includes multiple slidingly connected telescopic rods. The telescopic rod at the first end is rotatably connected to the first rotating component, and the telescopic rod at the end is rotatably connected to the first movable component and the second movable component.

7. The robot head structure according to claim 1, characterized in that, The first optical device is provided on both sides of the first movable member along its length direction, and the length direction of the first movable member is perpendicular to its rotation axis.

8. The robot head structure according to claim 7, characterized in that, The second optical device is provided on both sides of the second movable member along its length direction, and the length direction of the second movable member is perpendicular to its rotation axis.

9. The robot head structure according to claim 1, characterized in that, The first optical device is an infrared camera, and the second optical device is a night vision camera.

10. A rescue robot, characterized in that, The robot includes a body, legs, arms, and a robot head structure as described in any one of claims 1-9, wherein the robot head structure is rotatably disposed on the top of the body, the arms are disposed on the side of the body, and the legs are disposed on the bottom of the body.

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