颈部壳体组件和机器人

Abstract

本申请涉及机器人技术领域，尤其涉及一种颈部壳体组件和机器人，以解决颈部壳体采用硬质材料制造，难以随着头颈关节的活动而弯扭和伸，仿生效果差的问题。该颈部壳体组件中，管状的螺旋支撑组件的两端分别与头部壳体组件和躯干壳体组件连接，螺旋支撑组件具有螺旋槽，螺旋槽沿螺旋支撑组件的侧壁螺旋延伸，并贯通螺旋支撑组件的侧壁，使螺旋支撑组件可以沿着螺旋支撑组件的周向以及垂直于周向的方向形变，柔性包覆件套设于螺旋支撑组件的外侧，螺旋支撑组件的外壁对柔性包覆件进行支撑，使颈部壳体组件整体可以弯扭和伸展，提升了机器人的仿生效果，并且头部壳体组件、颈部壳体组件和躯干壳体组件的外观连续，提高了机器人的外观的整体性。

Claims

1. A neck shell assembly, characterized by, Applied to a robot, the robot includes a head shell assembly and a torso shell assembly, the head shell assembly having a first receiving space, the torso shell assembly having a second receiving space, and the neck shell assembly including: A spiral support assembly, the spiral support assembly having a first tubular shape, the spiral support assembly having a third receiving space, the first end and the second end of the spiral support assembly being disposed opposite to each other along a first direction, the first end of the spiral support assembly being used to connect with the head shell assembly, the second end of the spiral support assembly being used to connect with the torso shell assembly, the third receiving space being able to communicate with the first receiving space and the second receiving space, the spiral support assembly having at least one spiral groove extending spirally along the sidewall of the spiral support assembly and penetrating the sidewall of the spiral support assembly; A flexible covering, the flexible covering having a second tubular shape, the flexible covering being sleeved on the outside of the spiral support assembly, the first end of the flexible covering being connected to the first end of the spiral support assembly, and the second end of the flexible covering being connected to the second end of the spiral support assembly.

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

3. The neck case assembly of claim 1, wherein, The spiral support assembly includes: A first tubular segment, a helical segment, and a second tubular segment are sequentially connected along the first direction. The first end of the first tubular segment forms the first end of the helical support assembly. The helical segment includes a single helical structure or a multi-helical structure, and the gap between the single helical structure or the multi-helical structure forms the helical groove.

4. The neck shell assembly of claim 3, wherein, The head housing assembly includes at least one first positioning portion on the side facing the neck housing assembly; The first end of the flexible covering has at least one first through hole; The first end of the first tubular segment includes at least one second positioning part, which can pass through the first through hole and engage with the first positioning part in a concave-convex fit, or the first positioning part can pass through the first through hole and engage with the second positioning part in a concave-convex fit.

5. The neck shell assembly of claim 4, wherein, The first positioning part is located on the inner wall of the head housing assembly; The second positioning part is located on the outer wall of the first end of the first tubular segment.

6. The neck housing assembly according to claim 3, characterized in that, The head housing assembly includes at least one connecting portion on the side facing the neck housing assembly; The first end of the first tubular segment has at least one second through hole; The spiral support assembly also includes: A first connector, the shape of which includes a first annular structure, the first connector being wound at least one turn around by a first end of the flexible covering, the first connector having at least one third through hole, and the flexible covering having at least two fourth through holes. At least one second connector, the first end of the second connector abutting against the inner wall of the first end of the first tubular segment, and the second end of the second connector being able to pass through the second through hole, the third through hole and at least two fourth through holes to connect with the connecting part.

7. The neck housing assembly according to claim 6, characterized in that, The connecting portion is located on the inner wall of the head housing assembly; The first connector, which is wound around the first end of the flexible covering at least once, is fitted onto the outside of the first end of the first tubular segment.

8. The neck housing assembly according to any one of claims 1 to 7, characterized in that, The spiral support assembly includes: A spiral support member, the spiral support member having a third tubular shape, the spiral support member having the third receiving space, the first end and the second end of the spiral support member being disposed opposite to each other along the first direction, the first end of the spiral support member forming the first end of the spiral support assembly, the spiral support member having at least one spiral groove, the spiral groove extending spirally along the sidewall of the spiral support member and penetrating the sidewall of the spiral support member; The third connector has a shape including a second annular structure, the circumference of which is parallel to the circumference of the second end of the spiral support. The first side and the second side of the third connector are arranged opposite to each other along the first direction. The first side of the third connector is connected to the second end of the spiral support. The second side of the third connector is used to connect to the torso shell assembly. The flexible covering is sleeved on the outside of the spiral support and the third connector, and the second end of the flexible covering is connected to the side of the third connector facing the torso shell assembly.

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

10. The neck shell assembly of any one of claims 1 to 7, wherein, Along the direction from the outer wall of the spiral support assembly to the inner wall of the spiral support assembly, the size of the spiral groove gradually decreases along the first direction.

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

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