Neck structure of robot and humanoid robot

Abstract

The present disclosure relates to the technical field of robots, in particular to a neck structure of a robot and a humanoid robot. Specifically comprising: a neck assembly with a preset inclination angle; a first joint actuator assembly for driving a head assembly to rotate around a first axis; the first axis is a horizontal axis; the output end of the first joint actuator assembly is connected with the head assembly of the humanoid robot, and the shell thereof is connected with the first end of the neck assembly; a second joint actuator assembly for driving the neck assembly to rotate around a second axis; the second axis is a vertical axis; the output end of the second joint actuator assembly is connected with the second end of the neck assembly, and the shell thereof is connected with the chest assembly of the humanoid robot. The present disclosure can realize two degrees of freedom of left and right rotation and up and down nodding of the head of the robot through the two joint actuator assemblies, improve the flexibility of the neck structure, and make the nodding and swinging actions more natural. The neck structure is simple and has a low production cost.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to the neck structure of robots and humanoid robots. Background Technology

[0002] The neck structure of a humanoid robot typically needs to have two degrees of freedom: yaw and pitch, in order to dynamically track moving objects. The drive systems for the neck structure of humanoid robots include electric drive, hydraulic drive, and electro-hydraulic hybrid drive. Among these, electric drive is currently the most widely used drive method for humanoid robots, characterized by convenient power supply, fast response, efficient and convenient information transmission, detection, and processing, and strong driving capability. Electric drive methods often use joint actuators containing motors.

[0003] However, the limited installation location of the joint actuators restricts the flexibility of the humanoid robot's neck in terms of lateral movement and rotation, significantly limiting the swing and rotation angles of the neck structure and thus its application scenarios. Secondly, the robot's neck structure also includes a high-precision position encoder to measure the position information of the neck joint actuators; the limited position of the encoder further increases the complexity of the neck structure and restricts its design margin. Finally, some existing designs use extremely complex mechanical structures to meet the flexibility requirements of the neck structure, increasing the production cost of the humanoid robot's neck structure, and excessive complexity also reduces its reliability.

[0004] In view of the existing technical defects of humanoid robots, it is urgent to solve the technical problems of the inflexible rotation angle of the neck joint actuator and the limited installation position of the position encoder of the neck joint actuator, which leads to the complex and inflexible neck structure, and to propose improved technical solutions. Utility Model Content

[0005] This disclosure provides a neck structure for a robot and a humanoid robot.

[0006] According to one aspect of this disclosure, a neck structure for a humanoid robot is provided, comprising: a neck assembly having a preset tilt angle; a first joint actuator assembly for driving a head assembly of the humanoid robot to rotate about a first axis; the first axis being a horizontal axis; an output end of the first joint actuator assembly being connected to the head assembly of the humanoid robot, and its housing being connected to a first end of the neck assembly; a second joint actuator assembly for driving the neck assembly to rotate about a second axis; the second axis being a vertical axis; an output end of the second joint actuator assembly being connected to a second end of the neck assembly, and its housing being connected to a thoracic cavity assembly of the humanoid robot.

[0007] Optionally, the neck structure further includes: a first connecting component for connecting the output end of the first joint actuator component to the head component.

[0008] Optionally, the first connecting component includes a U-shaped structure, wherein the closed side of the U-shaped structure is connected to the head assembly, and the output end of the first joint actuator is connected to the first side of the U-shaped structure and can drive the U-shaped structure to rotate around the first axis.

[0009] Optionally, the first joint actuator assembly includes a first joint actuator, a first encoder circuit board, and a first encoder permanent magnet; the first encoder permanent magnet is fixed to the housing of the first joint actuator, the first encoder circuit board is fixed to the second side of the U-shaped structure, the first encoder permanent magnet and the first encoder circuit board are disposed opposite to each other, and the centers of the first encoder permanent magnet and the first encoder circuit board are both located on the first axis.

[0010] Optionally, the first connection assembly further includes a first connector and a second connector, wherein the output end of the first joint actuator is connected to the first side of the U-shaped structure through the first connector, and the first encoder circuit board is fixed to the second side of the U-shaped structure through the second connector.

[0011] Optionally, the second end of the first joint actuator is provided with a protrusion, and the first encoder permanent magnet is connected to the housing of the first joint actuator through the protrusion; the second end of the first joint actuator is provided with a bearing, the inner ring of the bearing is circumferentially connected to the protrusion, the outer ring of the bearing is connected to the second connector, and the first encoder circuit board is fixed to the side of the second connector facing away from the bearing.

[0012] Optionally, the first connection component further includes an encoder protective cover adapted to the shape of the first encoder circuit board, one end of which is fixed to the second side of the U-shaped structure.

[0013] Optionally, the second joint actuator assembly includes a second joint actuator, a second encoder, and a transmission mechanism; wherein, the second encoder is disposed radially on the second joint actuator, and its first end is connected to the output end of the second joint actuator through the transmission mechanism, and rotates around a third axis under the drive of the output end of the second joint actuator, the third axis being parallel to the second axis; the circuit board of the second encoder is connected to the housing of the second joint actuator.

[0014] Optionally, the neck assembly includes a neck body and a neck shell, wherein both the neck body and the neck shell adopt a three-section structure to form a predetermined tilt angle.

[0015] Optionally, both the neck body and the neck shell have recesses.

[0016] Optionally, the first end of the neck housing is provided with at least one first through hole, and the neck housing is fixedly connected to the first end of the neck body and the first joint actuator assembly by at least one first screw; the second end of the neck housing is provided with a plurality of second through holes distributed circumferentially, and the neck housing is fixedly connected to the second end of the neck body by a plurality of second screws.

[0017] Optionally, the neck assembly further includes: a switch circuit board disposed on the neck body; and a removable cover plate disposed on the neck housing at a position corresponding to the switch circuit board.

[0018] According to another aspect of this disclosure, a humanoid robot is provided, including the neck structure of the robot described in any of the above-described technical solutions.

[0019] The neck structure of the robot and the humanoid robot disclosed herein have the following beneficial effects.

[0020] First, improve head flexibility. By placing a first joint actuator assembly and a second joint actuator assembly at each end of the robot's neck assembly, with the first joint actuator assembly connected to the robot's head, two degrees of freedom—left-right rotation and up-down nodding—can be achieved, improving the flexibility of the neck structure. Two electrically driven joint actuators are used: the first actuator achieves "nodding," and the second actuator achieves "turning," corresponding to the head's pitch and left-right rotation degrees of freedom, respectively. This significantly improves the flexibility of the neck structure, meeting the requirements for flexible head movement in humanoid robots. Furthermore, the nodding and head-swaying movements are more natural and human-like, the neck structure is simple, and the production cost is lower.

[0021] Secondly, it reduces structural complexity. In conventional designs, connecting joint actuators to other components often requires additional connectors, increasing the number of parts and assembly complexity. In this design, the output end of the first joint actuator is connected to the head assembly, and the threaded hole on the first joint actuator's housing is used for direct connection between the neck body and the neck housing. The first joint actuator performs multiple functions, including driving and connecting, reducing additional connectors and simplifying the structure. The actuator acts as a connector, making power transmission more direct. When the first joint actuator rotates, its output end drives the head assembly to rotate via the first connector, achieving "nodding"; when the second joint actuator rotates, its output end drives the neck body to rotate, achieving "turning," reducing intermediate transmission links and complex transition structures, lowering energy loss and failure risk, and simplifying the complexity of the transmission system. The output end of the second joint actuator is directly connected to one end of the neck body, and its housing can be connected to the thoracic cavity structure. It also serves as a connector while performing the driving function, reducing the number of connecting parts and lowering assembly difficulty and the probability of errors.

[0022] Furthermore, a first encoder and a second encoder are respectively installed for the two joint actuators, enabling precise measurement and control of the robot's neck posture. The first joint actuator and the first encoder in the neck area employ a U-shaped structure design, where the output end of the first joint actuator is fixed to the head assembly via a U-shaped first connector, further simplifying the mechanical structure near the first joint actuator. The second joint actuator and the second encoder utilize a gear transmission structure and are arranged horizontally, shortening the vertical length of the mechanical structure near the second joint actuator. Overall, this simplifies the humanoid robot's neck structure and avoids excessively increasing structural complexity to meet specific usage requirements.

[0023] Secondly, the spatial layout is optimized. The joint actuator acts as a connector, making the neck assembly layout compact. For example, the second encoder is set on the radial connector of the second joint actuator, and the position information is measured by means of gear transmission. This avoids the need for additional space to install complex connection structures and measuring devices, shortens the vertical length of the mechanical structure near the second joint actuator, makes the neck structure more compact and reasonable, reduces space occupation, improves space utilization, and simplifies the neck structure as a whole.

[0024] Finally, production costs were reduced. For the encoder selection, both the first and second encoders were magnetic encoders. Magnetic encoders have the advantage of low cost, effectively reducing the production cost of the humanoid robot's neck structure compared to the high-precision absolute position encoders used in existing technologies.

[0025] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0026] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0027] Figure 1 This is a frontal structural diagram of the neck structure of the robot in an embodiment of this disclosure;

[0028] Figure 2 This is a side view of the neck structure of the robot in an embodiment of this disclosure;

[0029] Figure 3 This is an exploded view of the neck structure of the robot in the embodiments of this disclosure;

[0030] Figure 4 This is a schematic diagram of the rear structure of the robot's neck structure in an embodiment of this disclosure.

[0031] The reference numerals in the detailed embodiments are as follows:

[0032] First joint actuator assembly 100; first joint actuator 101; output end 101a of the first joint actuator; housing 101b of the first joint actuator; protrusion 101c; bearing 101d; first encoder circuit board 102; first encoder permanent magnet 103.

[0033] Second joint actuator assembly 200; second joint actuator 201; output end 201a of the second joint actuator; housing 201b of the second joint actuator; second encoder 202; transmission mechanism 203; first gear 203a; second gear 203b; third connector 204;

[0034] Neck assembly 300; neck body 301; first recess 301a; neck shell 302; first through hole 302a; second through hole 302b; annular recess 302c; second recess 302d; cover plate 302e; switch circuit board 303;

[0035] First connecting component 400; U-shaped structural member 401; first mounting hole 401a; second mounting hole 401b; limiting part 401c; closed side of U-shaped structural member 401d; first connecting member 402; first protrusion 402a; second connecting member 403; second protrusion 403a; encoder protective cover 404;

[0036] First axis R1; second axis R2; third axis R3. Detailed Implementation

[0037] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0038] All technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0039] In the description of the embodiments of this application, the term "at least one" refers to one or more, and "multiple" refers to two or more (including two).

[0040] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0041] To address the technical problems in existing humanoid robots, such as the inflexible rotation angle of the neck joint actuators and the limited mounting position of the position encoders, leading to complex neck structures, this disclosure provides a neck structure for humanoid robots, such as... Figure 1 As shown, it includes:

[0042] Neck assembly 300 with a preset tilt angle.

[0043] In this embodiment, by designing the neck assembly 300 to be forward-tilted, the robot's head structure protrudes forward, allowing the robot to gain a wider visual range, especially when the robot's head performs pitch movements, such as looking down. This avoids the chest cavity structure obstructing its view, allowing it to see the movement of its feet without obstruction. Additionally, a sling and rope are typically installed on the rear side of the robot's neck assembly, near the top of the chest cavity assembly. These slings and ropes are used to prevent damage to the equipment from falls due to robot failure during debugging or experimentation. The forward-tilted design of the neck assembly 300 provides more space for the slings and ropes to move, preventing damage to the robot's head assembly in the event of a fall. Furthermore, the neck assembly with a natural tilt angle can mimic subtle human movements such as nodding and shaking, enhancing the naturalness of human-robot interaction and making it suitable for more complex social scenarios.

[0044] The first joint actuator assembly 100 is used to drive the head assembly to rotate around the first axis R1; the first axis R1 is a horizontal axis (i.e., left-right axis); the output end of the first joint actuator assembly 100 is connected to the head assembly of the humanoid robot, and its shell is connected to the first end of the neck assembly 300.

[0045] The second joint actuator assembly 200 is used to drive the neck assembly 300 to rotate about a second axis R2. The second axis R2 is a vertical axis; the output end of the second joint actuator assembly 200 is connected to the second end of the neck assembly 300, and its housing is connected to the thoracic cavity assembly of the humanoid robot.

[0046] Specifically, in this embodiment, the robot's head assembly is connected to the output end of the first joint actuator assembly 100. The head assembly rotates around the first axis R1 under the drive of the first joint actuator assembly 100, thereby realizing the humanoid robot's pitching motion, i.e., the "nodding" action.

[0047] Furthermore, the first end (i.e., the top) of the neck assembly 300 is connected to the first joint actuator assembly 100, and the second end (i.e., the bottom) of the neck assembly 300 is connected to the second joint actuator assembly 200. The second joint actuator assembly 200 rotates around the second axis R2 and drives the neck assembly 300 to rotate around the second axis R2. Since the robot's head structure is connected to the neck assembly 300 through the first joint actuator assembly 100, the robot's head can turn left and right under the drive of the second joint actuator assembly 200, realizing the robot's "head-shaking" action.

[0048] By using the above technical solution, by setting a first joint actuator assembly 100 at the top of the robot's neck assembly (connected to the head assembly) and a second joint actuator assembly 200 at the bottom of the robot's neck assembly, the robot's neck can achieve two degrees of freedom: left and right swinging and up and down nodding. This improves the flexibility of the neck structure, and the nodding and swinging movements are more natural and human-like. The neck structure is simple and the production cost is low.

[0049] As an optional implementation, the neck structure further includes:

[0050] The first connecting component 400 is used to connect the output end of the first joint actuator component 100 to the head component of the humanoid robot (not shown in the figure).

[0051] Specifically, in this embodiment, the robot's head assembly is connected to the output end of the first joint actuator assembly 100 via the first connecting assembly 400. The first connecting assembly 400 rotates around the first axis R1 under the drive of the first joint actuator assembly 100, thereby driving the robot's head structure to rotate around the first axis R1, realizing the humanoid robot's pitching motion, i.e., the "nodding" action.

[0052] In this embodiment, the output end of the first joint actuator is directly fixed to the first connector, which in turn is connected to the head assembly. The first joint actuator can be directly connected to the neck assembly by opening a threaded hole in its housing. The first joint actuator performs multiple functions of driving and connecting, reducing additional connectors and simplifying the structure. The output end of the second joint actuator is directly connected to the neck assembly. When its output end rotates, it drives the neck body to rotate, achieving "head turning." This reduces intermediate transmission links and complex transition structures, lowers energy loss and failure risk, and simplifies the complexity of the transmission system. Furthermore, the output end of the second joint actuator is directly connected to one end of the neck body, and its housing can be connected to the thoracic cavity structure. It performs the driving function while also acting as a connector, reducing the number of connecting parts and lowering assembly difficulty and production costs.

[0053] As an optional implementation method, refer to Figures 1-3 As shown, the first connection component 400 includes a U-shaped structure 401, wherein the closed side 401d of the U-shaped structure 401 is connected to the head component, and the output end 101a of the first joint actuator 101 is connected to the first side of the U-shaped structure 401 and can drive the U-shaped structure 401 to rotate around the first axis R1.

[0054] In this embodiment, a U-shaped structural member 401 is used as the connecting body. It can be used for connection in all three directions. The first joint actuator 101 can enter the U-shaped structural member 401 through its open side and rotate within it. The U-shaped structural member 401, as the connecting body, can connect both the robot's head assembly and the two ends of the first joint actuator 101, serving as a fixed support structure for the first joint actuator 101, allowing it to rotate stably around the first axis R1. Multiple components can be fixedly connected using a single connector, simplifying the mechanical structure near the first joint actuator.

[0055] As an optional implementation method, such as Figure 3 As shown, the first joint actuator assembly 100 includes a first joint actuator 101, a first encoder circuit board 102, and a first encoder permanent magnet 103; the first encoder permanent magnet 103 is fixed to the housing 101b of the first joint actuator 101, the first encoder circuit board 102 is fixed to the second side of the U-shaped structure 401, the first encoder permanent magnet 103 and the first encoder circuit board 102 are arranged opposite to each other, and the centers of the first encoder permanent magnet 103 and the first encoder circuit board 102 are both located on the first axis R1.

[0056] Specifically, the first encoder used to measure the absolute position information of the first joint actuator includes a first encoder circuit board 102 and a first encoder permanent magnet 103. In this embodiment, the output end 101a of the first joint actuator can be the output end of the first joint actuator 101. The rotation of the output end of the first joint actuator 101 drives the U-shaped structure 401 to rotate, thereby driving the first encoder circuit board 102 disposed on the second side of the U-shaped structure 401 to rotate around the first axis R1.

[0057] Furthermore, the first encoder permanent magnet 103 is disposed on the housing 101b of the first joint actuator. Its housing does not rotate with the output end of the first joint actuator 101. Therefore, the first encoder permanent magnet 103 and the first encoder circuit board 102 are in a state of relative rotation. The relative position between the two will change. The magnetic encoder chip on the first encoder circuit board 102 will capture the changing magnetic field information and convert it into an electrical signal to realize the measurement of the absolute position information of the first joint actuator.

[0058] Through the above technical solution, in this embodiment, the U-shaped structural component 401 can be fixedly connected to the head assembly, and at the same time, it can also fix the first joint actuator 101 and the first encoder, so that the first encoder circuit board 102 and the first encoder permanent magnet 103 form a relative rotation state. Moreover, the structure is simple and compact, with high space utilization and low production cost.

[0059] As an optional implementation method, such as Figure 3 As shown, the first connection component 400 also includes a first connector 402 and a second connector 403. The output end 101a of the first joint actuator 101 is connected to the first side of the U-shaped structure 401 through the first connector 402, and the first encoder circuit board 102 is fixed to the second side of the U-shaped structure 401 through the second connector 403.

[0060] Specifically, such as Figure 3 As shown, both the first connector 402 and the second connector 403 are disc-shaped, with their centers located on the first axis R1. The first connector 402 has a first protrusion 402a, and the first side of the U-shaped structure 401 has a first mounting hole 401a that matches the shape of the first protrusion 402a. The first protrusion 402a passes through the first mounting hole 401a and is fixedly connected to the output end 101a of the first joint actuator by screws. Furthermore, the first connector 402 is fixedly connected to the first side of the U-shaped structure 401 by screws.

[0061] The second connector 403 has a second protrusion 403a, and the second side of the U-shaped structural member 401 has a second mounting hole 401b. The second protrusion 403a can pass through the second mounting hole 401b and be fixedly connected to the second side of the U-shaped structural member 401 by screws. In addition, a limiting part 401c is provided in the second mounting hole 401b to limit the second connector 403, so that the second connector 403 can be embedded in the second mounting hole 401b. The effect after assembly is as follows: Figure 1 and 3 As shown, the second connector 403 is fully embedded in the U-shaped structural member 401 and does not protrude from the surface of the U-shaped structural member 401, thereby improving the compactness and aesthetics of the structure, and also improving the fixing strength.

[0062] It should be noted that the above-described method of using screws for fixing is only one optional implementation method. Fixing can also be achieved using other components such as rivets and clips.

[0063] As an optional implementation method, such as Figure 3 As shown, the second end of the first joint actuator 101 is provided with a protrusion 101c, and the first encoder permanent magnet 103 is connected to the housing 101b of the first joint actuator through the protrusion 101c.

[0064] The second end of the first joint actuator 101 is provided with a bearing 101d. The inner ring of the bearing 101d is circumferentially connected to the protrusion 101c. The outer ring of the bearing 101d is connected to the second connector 403. The first encoder circuit board 102 is fixed to the side of the second connector 403 facing away from the bearing 101d.

[0065] Reference Figure 3 As shown, the second end of the first joint actuator 101 is connected to the second side of the U-shaped structure 401 through the second connector 403, so that the two ends of the first joint actuator 101 are respectively fixed to the two sides of the U-shaped structure 401, thereby rotating around the first axis R1.

[0066] As an optional implementation, the first connection component 400 also includes an encoder protective cover 404, which is adapted to the shape of the first encoder circuit board 102, and one end of the encoder protective cover 404 is fixed to the second side of the U-shaped structure 401.

[0067] like Figure 3 As shown, the connecting portion of the encoder protective cover 404 extends upward and is fixed above the second connector 403. A receiving space is formed between the encoder protective cover 404 and the second connector 403. The encoder protective cover 404 protects the first encoder circuit board 102, preventing it from being exposed. During encoder operation, dust, moisture, oil, and other impurities in the surrounding environment may damage the encoder circuit board. The encoder protective cover 404 acts as a barrier, effectively preventing the intrusion of these harmful substances, thereby ensuring the internal cleanliness of the first encoder circuit board and maintaining its normal operation.

[0068] As an optional implementation method, such as Figure 3 As shown, the second joint actuator assembly 200 includes a second joint actuator 201, a second encoder 202, and a transmission mechanism 203.

[0069] The second encoder 202 is located radially on the second joint actuator. Its permanent magnet is connected to the output end 201a of the second joint actuator 201 through the transmission mechanism 203. Under the drive of the output end 201a of the second joint actuator 201, it rotates around the third axis R3, which is parallel to the second axis R2.

[0070] The circuit board of the second encoder 202 is connected to the housing 201b of the second joint actuator 201.

[0071] Specifically, when the second joint actuator 201 is in operation, the second encoder 202 rotates under the transmission action of the transmission mechanism 203, and the absolute position information of the second joint actuator 201 is measured through the transmission mechanism 203.

[0072] like Figure 3As shown, the second joint actuator and the corresponding second encoder in this disclosure adopt a different axis design. The second encoder is set in the radial position of the second joint actuator. This horizontal setting design shortens the length of the second joint actuator in the vertical direction (axial direction), making the neck structure of the humanoid robot more natural and the overall appearance more humanoid. In addition, the magnetic encoder has the advantage of low cost, which can reduce the overall production cost of the neck structure.

[0073] As an optional implementation method, such as Figure 2 As shown, the transmission mechanism 203 includes:

[0074] The first gear 203a is connected to the output end 201a of the second joint actuator 201.

[0075] The second gear 203b is located radially to the first gear 203a and meshes with the first gear 203a for transmission. The center of the second gear 203b is located on the third axis R3.

[0076] The permanent magnet of the second encoder 202 is connected to the second gear 203b and rotates with it. The circuit board of the second encoder 202 is connected to the housing 201b of the second joint actuator 201 via the third connector 204. The permanent magnet of the second encoder 202 and the circuit board of the second encoder 202 rotate relative to each other.

[0077] Specifically, in the first transmission mechanism 203 of this disclosure, a gear structure is used to connect the permanent magnet of the second encoder 202 to the output end 201a of the second joint actuator 201, thereby driving the permanent magnet of the second encoder 202 to rotate synchronously, so as to realize the measurement of the absolute position information of the second joint actuator 201. The second gear 203b and the second encoder 202 are both arranged in the radial direction of the second joint actuator, which can reduce the axial length of the second joint actuator without affecting the rotation angle of the second joint actuator, making the rotation angle more flexible.

[0078] As an optional implementation, the transmission mechanism 203 includes:

[0079] The rotating assembly is located radially on the second joint actuator 201 and connected to the output end 201a of the second joint actuator via a transmission belt. The center of the rotating assembly is located on the third axis R3.

[0080] The permanent magnet of the second encoder 202 is connected to the rotating assembly, and the circuit board of the second encoder 202 is connected to the housing 201b of the second joint actuator through the third connector 204.

[0081] Reference Figure 2As shown, in another transmission mechanism disclosed herein, the gear transmission can be replaced with a transmission belt, thereby driving the output end of the second encoder and the second joint actuator to rotate synchronously. The principle is similar to that of the gear transmission, and will not be described in detail below.

[0082] As an optional implementation method, such as Figure 3 As shown, the neck assembly 300 includes a neck body 301 and a neck shell 302. Both the neck body 301 and the neck shell 302 adopt a three-section structure to form a neck assembly 300 with a preset tilt angle.

[0083] In this embodiment, by designing the neck body and neck shell to be "forward-tilted," the robot's head structure protrudes forward, allowing the robot to have a wider field of vision, especially when the robot's head is performing pitch movements, such as looking down. This prevents the chest cavity structure from obstructing its view, allowing it to see the movement of its feet without obstruction. Additionally, a sling and rope are typically installed on the rear side of the robot's neck assembly, near the top of the chest cavity assembly. These slings and ropes are used to prevent the robot from falling and damaging the equipment during debugging or experimentation. The "forward-tilted" design of the neck body and neck shell provides more space for the slings and ropes to move, preventing damage to the robot's head assembly in the event of a fall.

[0084] Furthermore, this three-segment structure mimics the human neck, creating a natural tilt angle. The neck structure can mimic subtle human movements such as nodding and shaking, enhancing the naturalness of human-computer interaction and making it suitable for more complex social scenarios. Additionally, when subjected to external impact, the three-segment structure buffers and disperses energy, preventing stress concentration that could damage the overall structure.

[0085] As an optional implementation method, such as Figure 2 As shown, both the neck body 301 and the neck shell 302 have recesses. The neck body 301 has multiple first recesses 302a, and the neck shell 302 has multiple recesses 302d. The design of the recesses is mainly for aesthetic purposes, making the neck shell look more harmonious and beautiful. In addition, the recessed structure also has a weight-reduction effect, reducing the rotational inertia of the neck structure, facilitating the motion control of the neck structure, and making the neck structure more flexible.

[0086] As an optional implementation method, such as Figure 3 As shown, the first end of the neck housing 302 is provided with at least one first through hole 302a, and the neck housing 302 is fixedly connected to the first end of the neck body 301 and the first joint actuator assembly 100 by at least one first screw.

[0087] The second end of the neck housing 302 has several second through holes 302b distributed circumferentially. The neck housing 302 is fixedly connected to the second end of the neck body 301 by several second screws. The second end of the neck housing 302 is provided with an annular recess 302c, and the first gear 203a can be installed in the annular recess.

[0088] Specifically, the first joint actuator 101, the second joint actuator 201, and the neck body 301 can be fixedly connected through the neck shell 302, resulting in a simple and compact structure.

[0089] As an optional implementation method, such as Figure 4 As shown, the neck assembly 300 also includes:

[0090] The switch circuit board 303 is mounted on the neck body 301.

[0091] A removable cover plate 302e is provided on the neck housing 302 at the position corresponding to the switch circuit board 303.

[0092] Specifically, humanoid robots typically integrate multiple sensors and joint actuators. These devices require efficient data transmission. Switching circuit boards can provide high-bandwidth and low-latency communication, ensuring timely data delivery and enabling collaborative work between different nodes. This also simplifies wiring, reducing cable complexity and weight. Furthermore, a removable cover plate 302e is provided on the neck shell 302 to facilitate the installation and maintenance of the switching circuit board 303, and to protect it from exposure and contamination or damage during operation.

[0093] This disclosure also discloses a humanoid robot including the neck structure of the robot described in any of the foregoing embodiments.

[0094] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this disclosure can be achieved, and this is not limited herein.

[0095] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A neck structure for a humanoid robot, characterized in that, include: Neck assembly (300) with a preset tilt angle. A first joint actuator assembly (100) is used to drive the head assembly of the humanoid robot to rotate about a first axis (R1); the first axis (R1) is a horizontal axis; the output end of the first joint actuator assembly (100) is connected to the head assembly of the humanoid robot, and its housing is connected to the first end of the neck assembly (300); The second joint actuator assembly (200) is used to drive the neck assembly (300) to rotate about a second axis (R2); the second axis (R2) is a vertical axis; the output end of the second joint actuator assembly (200) is connected to the second end of the neck assembly (300), and its housing is connected to the thoracic cavity assembly of the humanoid robot.

2. The neck structure according to claim 1, characterized in that, The neck structure also includes: The first connection component (400) is used to connect the output end of the first joint actuator component (100) to the head component.

3. The neck structure according to claim 2, characterized in that, The first connecting component (400) includes a U-shaped structure (401), wherein the closed side (401d) of the U-shaped structure is connected to the head assembly, and the output end (101a) of the first joint actuator is connected to the first side of the U-shaped structure (401) and can drive the U-shaped structure (401) to rotate about the first axis (R1).

4. The neck structure according to claim 3, characterized in that, The first joint actuator assembly (100) includes a first joint actuator (101), a first encoder circuit board (102), and a first encoder permanent magnet (103). The first encoder permanent magnet (103) is fixed on the housing (101b) of the first joint actuator, and the first encoder circuit board (102) is fixed on the second side of the U-shaped structure (401). The first encoder permanent magnet (103) and the first encoder circuit board (102) are arranged opposite to each other, and the centers of the first encoder permanent magnet (103) and the first encoder circuit board (102) are both located on the first axis (R1).

5. The neck structure according to claim 4, characterized in that, The first connection assembly (400) further includes a first connector (402) and a second connector (403), wherein the output end (101a) of the first joint actuator is connected to the first side of the U-shaped structure (401) through the first connector (402), and the first encoder circuit board (102) is fixed to the second side of the U-shaped structure (401) through the second connector (403).

6. The neck structure according to claim 5, characterized in that, The second end of the first joint actuator (101) is provided with a protrusion (101c), and the first encoder permanent magnet is connected to the housing (101b) of the first joint actuator through the protrusion (101c). The second end of the first joint actuator (101) is provided with a bearing (101d), the inner ring of the bearing (101d) is circumferentially connected to the protrusion (101c), the outer ring of the bearing (101d) is connected to the second connector (403), and the first encoder circuit board (102) is fixed to the side of the second connector (403) facing away from the bearing (101d).

7. The neck structure according to claim 4, characterized in that, The first connection component (400) also includes an encoder protective cover (404) adapted to the shape of the first encoder circuit board (102), one end of which is fixed to the second side of the U-shaped structure (401).

8. The neck structure according to claim 1, characterized in that, The second joint actuator assembly (200) includes a second joint actuator (201), a second encoder (202), and a transmission mechanism (203); The second encoder (202) is located radially on the second joint actuator (201), and its permanent magnet is connected to the output end (201a) of the second joint actuator through the transmission mechanism (203). Under the drive of the output end (201a) of the second joint actuator, it rotates around the third axis (R3), which is parallel to the second axis (R2). The circuit board of the second encoder (202) is connected to the housing (201b) of the second joint actuator.

9. The neck structure according to any one of claims 1-8, characterized in that, The neck assembly (300) includes a neck body (301) and a neck shell (302), wherein the neck body (301) and the neck shell (302) both adopt a three-section structure to form the neck assembly (300) having the preset tilt angle.

10. The neck structure according to claim 9, wherein, Both the neck body (301) and the neck shell (302) have recesses.

11. The neck structure according to claim 9, wherein, The first end of the neck housing (302) is provided with at least one first through hole (302a), and the neck housing (302) is fixedly connected to the first end of the neck body (301) and the first joint actuator assembly (100) by at least one first screw; The second end of the neck housing (302) has a plurality of second through holes (302b) distributed circumferentially, and the neck housing (302) is fixedly connected to the second end of the neck body (301) by a plurality of second screws.

12. The neck structure according to claim 9, wherein, The neck assembly also includes: A switch circuit board (303) is disposed on the neck body (301); A removable cover plate (302e) is provided on the neck housing (302) at the position corresponding to the switch circuit board (303).

13. A humanoid robot, characterized in that, Includes the neck structure of the robot as described in any one of claims 1-12.

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