A humanoid robot

Abstract

This application relates to a humanoid robot, comprising a torso mechanism, limb mechanisms, and a head mechanism. The head mechanism includes a head body and a head cover. Multiple connecting posts are provided on the end face of the head cover. Connecting grooves that interlock with the connecting posts are formed on the head body. Receiving grooves are formed on the inner sidewalls of the connecting grooves, perpendicular to the connecting grooves. Fastening components for fixing the connecting posts within the receiving grooves are provided within the receiving grooves. Control components are provided on the head body. This application improves the efficiency of robot maintenance.

Description

Technical Field

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

[0002] With the rapid development of technology, humanoid robots, as intelligent robots capable of simulating human behavior and actions, have been widely used in many fields such as service, education, and entertainment. Humanoid robots are usually composed of a torso mechanism, a head mechanism, and limb mechanisms. Multiple sensors, electronic units, and interaction modules are installed in each mechanism to realize complex functions such as motion imitation, environmental perception, information processing, and intelligent interaction with humans.

[0003] The head mechanism is a crucial core component for humanoid robots to achieve functions such as perception and interaction. It integrates many key electronic components such as cameras, sensors, processors, and speakers. The normal operation of these components directly affects the overall performance of the robot. In order to facilitate the inspection and maintenance of the electronic components inside the head, the head of a humanoid robot is usually designed as a combination structure of a head body and a head cover. The head cover, as an inspection cover, can be disassembled relative to the head body.

[0004] However, most existing humanoid robot head inspection covers are fixed to the head body with multiple bolts. Therefore, when it is necessary to repair or maintain the electronic components configured in the robot head, maintenance personnel need to use tools to remove all the bolts one by one. This is not only cumbersome and time-consuming, but also prone to stripping the threads or losing bolts due to repeated disassembly. As a result, the maintenance efficiency of the robot is low, which in turn affects the daily working efficiency of the robot and has obvious shortcomings. Utility Model Content

[0005] In order to improve the efficiency of robot maintenance, this application provides a humanoid robot.

[0006] The humanoid robot provided in this application adopts the following technical solution:

[0007] A humanoid robot includes a torso mechanism, limb mechanisms, and a head mechanism. The head mechanism includes a head body and a head cover. The head cover is detachably mounted on the head body. Multiple connecting posts are provided on the end face of the head cover facing the head body. A connecting groove is provided on the head body to engage with the multiple connecting posts. A receiving groove is provided on the inner sidewall of the connecting groove. The receiving groove is perpendicular to the connecting groove. A fastening component is provided in the receiving groove to fix the connecting posts in the connecting groove. A control component is provided on the head body to simultaneously cancel the fastening effect of the multiple fastening components.

[0008] By adopting the above technical solution, during the maintenance phase, maintenance personnel can control multiple fastening components to simultaneously release the fastening effect on the connecting column through the control component. Then, the worker pulls the head cover upward to pull the connecting column away from the connecting groove, thus realizing the removal of the head cover from the head body. Compared with the traditional bolt connection method, maintenance personnel can release all fastening effects at once without the need to use tools to remove bolts one by one, thereby shortening the head cover removal time and improving the robot maintenance efficiency.

[0009] Optionally, the fastening assembly includes a fastening block slidably disposed in the receiving groove, a fastening groove is provided on the connecting post for insertion and engagement with the fastening block, a retaining spring is provided in the receiving groove, the elastic force of the retaining spring drives the fastening block to insert into the fastening groove, and the control assembly controls multiple fastening blocks to simultaneously disengage from the fastening groove.

[0010] By adopting the above technical solution, after the connecting post is inserted into the connecting groove, the elastic force of the clamping spring pushes the fastening block into the fastening groove, thereby fixing the connecting post inside the connecting groove and preventing the connecting post from being dislodged from the connecting groove by external force, thus improving the stability of the head cover on the head body. During disassembly, the control component overcomes the elastic force of the clamping spring and simultaneously pulls multiple fastening blocks out of the fastening groove, realizing the rapid disassembly of the head cover.

[0011] Optionally, the connecting column is provided with a pushing inclined surface, and the end face of the fastening block facing the connecting groove is provided with a pushed inclined surface that slides with the pushing inclined surface, and the pushing inclined surface and the pushed inclined surface have the same inclination.

[0012] By adopting the above technical solution, during the process of inserting the connecting post into the connecting groove, the pushing inclined surface on the connecting post and the pushed inclined surface on the fastening block will first contact and produce a sliding fit. Since the inclination of the two inclined surfaces is the same, the axial insertion force of the connecting post will be transformed into a radial force that pushes the fastening block to slide into the receiving groove through the guiding effect of the two inclined surfaces, so that the fastening block automatically retracts into the receiving groove to avoid the connecting post. After the connecting post is fully inserted into the connecting groove, the elastic force of the clamping spring will push the fastening block to reset and insert into the fastening groove to complete the locking. This further simplifies the installation operation of the head cover on the head body, eliminating the need for additional operation control components to unlock, thereby further improving the convenience and efficiency of head cover installation and removal.

[0013] Optionally, the head body has an annular groove, and the control component includes a drive ring rotatably connected in the annular groove. Each receiving groove communicates with the annular groove through a threaded hole, and a pull rope is threaded through the threaded hole. The pull rope connects the fastening block and the drive ring. The outer surface of the head body has an arc groove, and the drive ring is provided with a lever block slidably connected in the arc groove. When the lever block moves from one end of the arc groove to the other end, the drive ring pulls the fastening block away from the fastening groove through the pull rope.

[0014] By adopting the above technical solution, during disassembly, the worker pulls the lever along the arc groove. The lever drives the drive ring to rotate within the groove, and the drive ring drives the pull rope away from the wire hole. At this time, the pull rope overcomes the elastic force of the clamping spring and pulls the fastening block out of the fastening groove of the connecting column, so that the fastening block is completely retracted into the receiving groove, releasing the locking state of the connecting column. Then, the worker lifts the head cover with his other hand to complete the disassembly. The setting of the control component allows maintenance personnel to achieve synchronous locking of all connecting columns by simply moving the lever, without having to operate each fastening point one by one, reducing disassembly steps and operation time, thereby improving the efficiency of robot maintenance.

[0015] Optionally, a threaded hole is provided at one end of the arc groove, and a locking bolt that is threadedly engaged with the threaded hole is provided on the lever. When the lever is fixed to the end of the arc groove by the locking bolt, the pull rope is in a slack state, and the fastening block is inserted into the fastening groove.

[0016] By adopting the above technical solution, after the fastening block is inserted into the fastening groove, the maintenance personnel screw the locking bolt on the lever into the threaded hole, thereby locking the drive ring in a fixed position and preventing it from rotating accidentally due to vibration or external force during robot operation. Once the drive ring is locked, the pull rope will not be pulled, thus ensuring that the fastening block remains stably inserted in the fastening groove. This prevents the fastening block from dislodging from the fastening groove due to drive ring displacement, effectively ensuring the stability of the connection between the head cover and the head body, and reducing the risk of the head cover accidentally loosening during robot operation.

[0017] Optionally, a stepped groove is formed on the end face of the arc groove, and a sealing cover is magnetically attached to the stepped groove, the sealing cover covering the arc groove.

[0018] By adopting the above technical solution, after the locking bolts fix the lever, the worker installs the sealing cover at the stepped groove to achieve the sealing of the arc groove. The sealing cover reduces the possibility of external dust, moisture or impurities entering the arc groove and ring groove, reduces the interference of these impurities on the mechanical transmission process such as the rotation of the drive ring and the sliding of the lever, and ensures the long-term stable operation of the control components.

[0019] Optionally, a grip groove is provided at the top of the head cover.

[0020] By adopting the above technical solution, the grip groove at the top of the headgear provides workers with a convenient point of force for disassembling and assembling the headgear, making it easier for workers to pull the headgear away from the head body.

[0021] Optionally, a battery pack may be detachably mounted on the strut mechanism for providing electrical power.

[0022] By adopting the above technical solution, the battery pack provides the robot with an independent energy supply unit. When the battery power is low, the user can directly remove the battery pack with insufficient power and replace it with a fully charged spare battery pack. There is no need to wait for the robot to charge in place for a long time, which greatly reduces the downtime caused by charging and allows the robot to quickly return to working status.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. This application, by setting up a control component, allows maintenance personnel to simultaneously release the fastening effect of multiple fastening components on the connecting column during the maintenance phase. Subsequently, the worker pulls the head cover upwards to disengage the connecting column from the connecting groove, thus achieving the removal of the head cover from the head body. Compared with the traditional bolt connection method, maintenance personnel can release all fastening effects at once without the need to disassemble the bolts one by one with the help of tools, thereby shortening the head cover removal time and improving the robot maintenance efficiency.

[0025] 2. This application utilizes a locking bolt. After the fastening block is inserted into the fastening groove, maintenance personnel screw the locking bolt on the lever into the threaded hole, thereby locking the drive ring in a fixed position and preventing accidental rotation due to vibration or external force during robot operation. With the drive ring locked, the pull rope will not be pulled, ensuring the fastening block remains stably inserted in the fastening groove. This prevents the fastening block from dislodging from the fastening groove due to drive ring displacement, effectively ensuring the stability of the connection between the head cover and the head body, and reducing the risk of accidental loosening of the head cover during robot operation. Attached Figure Description

[0026] Figure 1 This is a structural diagram of this application.

[0027] Figure 2 This is a vertical sectional view of the head body in an embodiment of this application.

[0028] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0029] Figure 4 This is a cross-sectional view of the head body in an embodiment of this application.

[0030] Explanation of reference numerals in the attached drawings: 1. Torso mechanism; 101. Battery pack; 2. Limb mechanism; 21. Robotic arm; 22. Robotic leg; 3. Head mechanism; 31. Head body; 32. Head cover; 321. Grip groove; 4. Connecting post; 41. Fastening groove; 5. Connecting groove; 51. Receiving groove; 6. Fastening assembly; 61. Fastening block; 62. Anti-locking spring; 7. Control assembly; 71. Drive ring; 72. Pull rope; 73. Toggle block; 8. Ring groove; 81. Thread hole; 82. Arc groove; 821. Threaded hole; 822. Stepped groove; 9. Locking bolt; 10. Sealing cover. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0032] This application discloses a humanoid robot.

[0033] Reference Figure 1 A humanoid robot includes a torso mechanism 1, limb mechanisms 2, and a head mechanism 3. The limb mechanism 2 consists of a robotic arm 21 and a robotic leg 22 mounted on the torso mechanism 1. The robotic arm 21 and the robotic leg 22 can rotate relative to the torso mechanism 1. The head mechanism 3 includes a head body 31 mounted on the top of the torso mechanism 1. A head cover 32 is detachably connected to the head body 31. The head body 31 has mounting slots (not shown in the figure) for mounting electronic components such as sensors inside.

[0034] Reference Figure 1 A battery pack 101 is detachably mounted on the body mechanism 1. The battery pack 101 provides an independent energy supply unit for the robot. The principle of providing power through the battery pack 101 is existing technology and will not be described in detail here. When the battery pack 101 has low power, the user can directly remove the battery pack 101 with insufficient power and replace it with a fully charged spare battery pack 101. There is no need to wait for the robot to charge for a long time in place, allowing the robot to quickly return to working status.

[0035] Reference Figure 1 and Figure 2 The top of the head cover 32 is provided with a grip groove 321, which provides a force point for the hand, making it easy for maintenance personnel to lift the head cover 32. Multiple connecting posts 4 are fixedly connected to the end face of the head cover 32 facing the head body 31. The multiple connecting posts 4 are evenly distributed around the circumference of the head cover 32. In this embodiment, there are six connecting posts 4. The head body 31 is provided with connecting grooves 5 that correspond one-to-one with the multiple connecting posts 4. The connecting posts 4 are inserted into the corresponding connecting grooves 5.

[0036] Reference Figure 2 Each connecting groove 5 has an inner wall with a receiving groove 51, which is perpendicular to the connecting groove 5. Each receiving groove 51 is provided with a fastening component 6. Specifically, the fastening component 6 includes a fastening block 61 that is slidably connected in the receiving groove 51. The connecting post 4 has a fastening groove 41 that is inserted into the fastening block 61. The bottom surface of the connecting post 4 is provided with a pushing inclined surface (not shown in the figure). The end face of the fastening block 61 facing the connecting groove 5 is provided with a pushed inclined surface (not shown in the figure) that is slidably engaged with the pushing inclined surface. Both the pushing inclined surface and the pushed inclined surface are inclined from top to bottom along the direction close to the axis of the connecting post 4.

[0037] Reference Figure 2A retaining spring 62 is provided in the receiving groove 51. One end of the retaining spring 62 is fixedly connected to the inner side wall of the receiving groove 51 away from the connecting groove 5, and the other end is fixedly connected to the fastening block 61. The elastic force of the retaining spring 62 drives the fastening block 61 to be inserted into the fastening groove 41.

[0038] When installing the head cover 32, the worker holds the head cover 32 through the grip 321, aligns the connecting post 4 with the corresponding connecting groove 5 and inserts it. The connecting post 4 slides down along the connecting groove 5. The pushing inclined surface and the pushed inclined surface will first contact and produce a sliding fit. Since the two inclined surfaces have the same inclination, the axial insertion force of the connecting post 4 will be converted into a radial force that pushes the fastening block 61 to slide into the receiving groove 51 through the guiding effect of the pushing inclined surface. This causes the fastening block 61 to automatically retract into the receiving groove 51 to avoid the connecting post 4. After the connecting post 4 is fully inserted into the connecting groove 5, the elastic force of the clamping spring 62 will push the fastening block 61 to reset and insert into the fastening groove 41. At this time, the connecting post 4 is fixed in the connecting groove 5, thereby realizing the installation of the head cover 32 on the head body 31. This simplifies the installation operation of the head cover 32 on the head body 31, eliminating the need for additional operation to control the fastening block 61 to disengage from the fastening groove 41 to insert the connecting post 4, thus improving the efficiency of the head cover 32 installation.

[0039] Reference Figure 2 and Figure 3 The head body 31 is provided with a control component 7. Specifically, the control component 7 includes a drive ring 71. The outer periphery of the head body 31 is provided with an annular groove 8 that rotates with the drive ring 71. Each receiving groove 51 has a wire hole 81 that communicates with the annular groove 8 on its inner side wall. A pull rope 72 is threaded through the wire hole 81. One end of the pull rope 72 extends into the receiving groove 51 and is fixedly connected to the fastening block 61. The other end extends into the annular groove 8 and is fixedly connected to the drive ring 71. When the clamping spring 62 pushes the fastening block 61 into the fastening groove 41, the pull rope 72 is in a relaxed state.

[0040] Reference Figure 2 and Figure 3 The outer surface of the head body 31 is provided with an arc groove 82. A lever 73 is fixedly connected to the drive ring 71 and slidably connected in the arc groove 82. When the spring 62 is in its natural state, the lever 73 is at one end of the arc groove 82 and the pull rope 72 is in a relaxed state. When the lever 73 moves from the starting end of the arc groove 82 to the other end, the drive ring 71 pulls the fastening block 61 away from the fastening groove 41 through the pull rope 72. At this time, the spring 62 is compressed and the pull rope 72 is tensioned.

[0041] When the head cover 32 needs to be disassembled for maintenance, the worker moves the lever 73 along the arc groove 82 to the other end of the arc groove 82. The lever 73 drives the drive ring 71 to rotate in the ring groove 8. The drive ring 71 drives multiple pull ropes 72 to move away from the wire hole 81 in sync. At this time, the multiple pull ropes 72 overcome the elastic force of the clamping spring 62 and pull the fastening block 61 out of the fastening groove 41, so that the fastening block 61 is completely retracted into the receiving groove 51. At this time, the fixed state of multiple connecting posts 4 is unlocked in sync. Finally, the worker pulls the head cover 32 upward to make the connecting posts 4 disengage from the connecting groove 5. In this way, the head cover 32 is disassembled from the head body 31. Compared with the traditional bolt connection method, the maintenance personnel only need to move the lever 73 to realize the synchronous locking of all connecting posts 4, without having to operate each fastening point one by one, thereby shortening the disassembly time of the head cover 32 and improving the maintenance efficiency of the robot.

[0042] Reference Figure 3 and Figure 4 The end of the arc groove 82 is provided with a threaded hole 821. A locking bolt 9 that is threaded into the threaded hole 821 is passed through the lever 73. After the fastening block 61 is inserted into the fastening groove 41, the maintenance personnel screw the locking bolt 9 into the threaded groove through the lever 73. At this time, the locking bolt 9 locks the drive ring 71 in a fixed position to prevent it from rotating accidentally due to vibration or external force during robot operation, thereby preventing the fastening block 61 from dislodging from the fastening groove 41 due to displacement of the drive ring 71.

[0043] Reference Figure 3 and Figure 4 In order to improve the sealing performance of the arc groove 82 and reduce the possibility of external dust, moisture or impurities entering the arc groove 82 and the annular groove 8, a stepped groove 822 is provided on the end face of the arc groove 82 near the outer side. A sealing cover 10 is magnetically attached to the stepped groove 822, and the sealing cover 10 covers the arc groove 82.

[0044] The implementation principle of a humanoid robot according to an embodiment of this application is as follows: When the head cover 32 needs to be disassembled for maintenance, the worker moves the lever 73 to the other end of the arc groove 82. The lever 73 drives the drive ring 71 to rotate in the ring groove 8. The drive ring 71 drives multiple pull ropes 72 to move away from the wire hole 81 simultaneously. At this time, the multiple pull ropes 72 overcome the elastic force of the clamping spring 62 and pull the fastening block 61 out of the fastening groove 41, so that the fastening block 61 is completely retracted into the receiving groove 51. At this time, the fixed state of multiple connecting posts 4 is unlocked simultaneously. Finally, the worker pulls the head cover 32 upward to make the connecting posts 4 disengage from the connecting groove 5. In this way, the head cover 32 is disassembled on the head body 31. Compared with the traditional bolt connection method, the maintenance personnel only need to move the lever 73 to realize the synchronous locking of all connecting posts 4, without having to operate each fastening point one by one, thereby shortening the disassembly time of the head cover 32 and improving the robot maintenance efficiency.

[0045] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A humanoid robot, comprising a torso mechanism (1), limb mechanisms (2), and a head mechanism (3), wherein the head mechanism (3) comprises a head body (31) and a head cover (32), the head cover (32) being detachably mounted on the head body (31), characterized in that, The head cover (32) has multiple connecting posts (4) on its end face facing the head body (31). The head body (31) has a connecting groove (5) that is inserted into the multiple connecting posts (4). The inner side wall of the connecting groove (5) has a receiving groove (51) that is perpendicular to the connecting groove (5). The receiving groove (51) has a fastening component (6) that fixes the connecting post (4) in the connecting groove (5). The head body (31) has a control component (7) that is used to simultaneously cancel the fastening effect of the multiple fastening components (6).

2. The humanoid robot according to claim 1, characterized in that, The fastening assembly (6) includes a fastening block (61) slidably disposed in the receiving groove (51). The connecting post (4) has a fastening groove (41) that is inserted into the fastening block (61). A retaining spring (62) is disposed in the receiving groove (51). The elastic force of the retaining spring (62) drives the fastening block (61) to insert into the fastening groove (41). The control assembly (7) controls multiple fastening blocks (61) to simultaneously disengage from the fastening groove (41).

3. A humanoid robot according to claim 2, characterized in that, The connecting column (4) is provided with a pushing inclined surface, and the end face of the fastening block (61) facing the connecting groove (5) is provided with a pushed inclined surface that slides with the pushing inclined surface. The pushing inclined surface and the pushed inclined surface have the same inclination.

4. A humanoid robot according to claim 2, characterized in that, The head body (31) has an annular groove (8) inside. The control component (7) includes a drive ring (71) rotatably connected in the annular groove (8). Each receiving groove (51) is connected to the annular groove (8) through a thread hole (81). A pull rope (72) is threaded through the thread hole (81). The pull rope (72) connects the fastening block (61) and the drive ring (71). The outer surface of the head body (31) has an arc groove (82). The drive ring (71) is provided with a lever (73) slidably connected in the arc groove (82). When the lever (73) moves from one end of the arc groove (82) to the other end, the drive ring (71) pulls the fastening block (61) away from the fastening groove (41) through the pull rope (72).

5. A humanoid robot according to claim 4, characterized in that, One end of the arc groove (82) is provided with a threaded hole (821), and a locking bolt (9) that is threaded into the threaded hole (821) is provided on the lever (73). When the lever (73) is fixed to the end of the arc groove (82) by the locking bolt (9), the pull rope (72) is in a slack state, and the fastening block (61) is inserted into the fastening groove (41).

6. A humanoid robot according to claim 4, characterized in that, The end face of the arc groove (82) is provided with a stepped groove (822), and a sealing cover (10) is magnetically attached to the stepped groove (822), which covers the arc groove (82).

7. A humanoid robot according to claim 1, characterized in that, The top of the head cover (32) is provided with a grip groove (321).

8. A humanoid robot according to claim 1, characterized in that, A battery pack (101) is detachably mounted on the strut mechanism (1), the battery pack (101) being used to provide electrical energy.

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