Head assembly and robot

Abstract

A head assembly and robot are disclosed, relating to the field of robot motion control. The head assembly includes a support member, a first link, and a head body. A first end of the first link is rotatably connected to the support member. The head body includes a head support, a first motor, and a connector. The head support is rotatably connected to the support member. The first motor is fixedly connected to the head support. The connector is fixedly connected to the drive end of the first motor and rotatably connected to the second end of the first link. The drive end of the first motor and the second end of the first link are connected at different positions on the connector, and the head support and the second end of the first link are rotatably connected at different positions on the support member. The head assembly and robot provided in this application can free up neck space while avoiding mechanical interference with the neck structure during large-angle head movements, increasing the maximum angle of head nodding movements, thereby improving the robot's perception range and motion performance.

Description

Technical Field

[0001] This application relates to the field of robot motion control, specifically a head assembly and robot. Background Technology

[0002] Currently, the nodding motion of a robot's head is typically driven by a drive structure (such as a motor, servo motor, or pneumatic actuator) mounted in the neck region. However, this traditional structure with the drive structure located in the neck has several limitations. First, placing the drive structure in the neck occupies valuable neck space, limiting the layout freedom of other functional modules (such as communication modules, sensors, wiring channels, etc.), which is not conducive to achieving compact and lightweight designs. Second, since there is a certain spatial distance between the first motor and the head, complex linkage mechanisms (such as linkage mechanisms, gear transmission mechanisms, or rope pulley mechanisms) are usually required to transmit power to drive the head to move up and down around the nodding axis. These linkage mechanisms are structurally limited by physical dimensions and spatial arrangement, and are prone to mechanical interference with the neck structure during large-angle head movements, thus limiting the maximum angle of head nodding motion and affecting the robot's motion performance and perception range. Utility Model Content

[0003] The purpose of this application is to provide a head assembly and robot that can free up neck space while avoiding mechanical interference with the neck structure during large-angle head movements, thereby increasing the maximum angle of head nodding movements and thus improving the robot's perception range and motion performance.

[0004] To address the aforementioned technical problems, this application provides the following technical solutions:

[0005] The first aspect of this application provides a header component, including:

[0006] Load-bearing components;

[0007] The first link, the first end of the first link is rotatably connected to the bearing member;

[0008] The head body, which includes:

[0009] Head support, which is rotatably connected to the load-bearing component;

[0010] The first motor is fixedly connected to the head support;

[0011] The connector is fixedly connected to the drive end of the first motor and rotatably connected to the second end of the first connecting rod.

[0012] The drive end of the first motor and the second end of the first connecting rod are connected at different positions on the connector, and the head bracket and the second end of the first connecting rod are rotatably connected at different positions on the bearing.

[0013] In some modified embodiments of the first aspect of this application, the connecting member is a wheel, the driving end of the first motor is fixedly connected to the first position of the wheel, and the second end of the first connecting rod is connected to the second position of the wheel; wherein, the first position is the center position of the wheel, the second position is the edge position of the wheel, and the distance between the first position and the second position is less than the length of the first connecting rod.

[0014] In some modified embodiments of the first aspect of this application, the connecting member is a second link, one end of the second link is connected to the drive end of the first motor, the other end of the second link is connected to the first end of the first link, and the length of the second link is less than the length of the first link.

[0015] Some modified embodiments of the first aspect of this application also include:

[0016] The first damping shaft is used to rotatably connect the head bracket to the bearing component;

[0017] There are two first damping shafts, which are coaxially arranged and respectively located on both sides of the bearing member.

[0018] In some modified embodiments of the first aspect of this application, the first damping shaft includes:

[0019] The first shaft is fixedly connected to the bearing component;

[0020] The second shaft is rotatably connected to the first shaft and is fixedly connected to the head bracket;

[0021] A damping structure is provided between the first shaft and the second shaft.

[0022] In some modified embodiments of the first aspect of this application, the first motor is disposed on one side of the first damping shaft.

[0023] Some modified embodiments of the first aspect of this application also include:

[0024] The controller is electrically connected to the first motor and is located on the side of the first damping shaft away from the first motor and is fixedly connected to the head bracket.

[0025] Some modified embodiments of the first aspect of this application also include:

[0026] The limiting structure is fixedly connected to the bearing member and contacts the first connecting rod.

[0027] A second aspect of this application provides a robot, comprising:

[0028] Neck assembly;

[0029] Head assembly, and connection between the head assembly and neck assembly;

[0030] Load-bearing components;

[0031] The first link, the first end of the first link is rotatably connected to the bearing member;

[0032] The head body, which includes:

[0033] Head support, which is rotatably connected to the load-bearing component;

[0034] The first motor is fixedly connected to the head support and is located at the rear of the robot.

[0035] The connector is fixedly connected to the drive end of the first motor and rotatably connected to the first end of the first connecting rod.

[0036] The drive end of the first motor and the first end of the first connecting rod are connected at different positions on the connector, and the head bracket and the second end of the first connecting rod are rotatably connected at different positions on the bearing.

[0037] In some modified embodiments of the second aspect of this application, the neck assembly includes:

[0038] Neck brace;

[0039] The neck body is rotatably connected to the neck support via a second damping shaft, and the neck body is fixedly connected to the load-bearing component.

[0040] A linkage structure, one end of which is connected to the neck body;

[0041] The second motor is connected to the other end of the connecting rod structure and is fixedly connected to the neck bracket.

[0042] The head support is perpendicular to the rotation axis of the bearing component and the rotation axis of the second damping shaft, and the neck body is provided with at least one through hole, which extends along the rotation axis of the second damping shaft.

[0043] Compared to existing technologies, the head assembly provided in the first aspect of this application effectively frees up neck space by incorporating a first motor as part of the head body and fixing it to the head support, facilitating wiring and the layout of other functional modules. Furthermore, by rotatably connecting the head support of the head body to a carrier, fixing the drive end of the first motor to a connector, connecting the connector to the second end of a first link, and rotatably connecting the first end of the first link to the carrier, and positioning the drive end of the first motor and the second end of the first link at different positions on the connector, and the head support and the second end of the first link at different positions on the carrier, a planar linkage transmission mechanism with the carrier as its frame is formed. This allows the drive end of the first motor to drive the connector to transmit power to the first link, thereby causing the first link to rotate relative to the carrier while simultaneously rotating the head body relative to the carrier to complete the nodding motion. This reduces the transmission distance and avoids mechanical interference with the neck structure during large-angle head movements, thereby increasing the maximum angle of the nodding motion and improving the robot's perception range and motion performance. Attached Figure Description

[0044] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application are illustrated by way of example and not limitation, with the same or corresponding reference numerals denoteing the same or corresponding parts, wherein:

[0045] Figure 1 This is a three-dimensional structural diagram of a robot provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of the structure of a head component provided in an embodiment of this application;

[0047] Figure 3 This is a structural schematic diagram of another state of the head component provided in an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of another embodiment of the head component provided in this application.

[0049] Figure 5 This is a partial structural diagram of a robot provided in an embodiment of this application;

[0050] Figure 6 This is a three-dimensional structural diagram of a robot provided in an embodiment of this application from another angle.

[0051] Explanation of icon numbers:

[0052] 1. Bearing component; 2. First connecting rod; 3. Head body; 31. Head support; 311. Support body; 312. Connecting plate; 32. First motor; 33. Connecting component; 4. First damping shaft; 41. First shaft; 42. Second shaft; 5. Neck assembly; 51. Neck body; 52. Neck support; 53. Linkage structure; 531. Head rotating active connecting rod; 532. Extended connecting rod; 533. Passive connecting rod; 54. Second damping shaft; 55. Second motor; 6. Limiting structure; 7. Controller. Detailed Implementation

[0053] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0054] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains.

[0055] Currently, the nodding motion of a robot's head is typically driven by a drive structure (such as a motor, servo motor, or pneumatic actuator) mounted in the neck region. However, this traditional structure with the drive structure located in the neck has several limitations. First, placing the drive structure in the neck occupies valuable neck space, limiting the layout freedom of other functional modules (such as communication modules, sensors, wiring channels, etc.), which is not conducive to achieving compact and lightweight design. Second, since there is a certain spatial distance between the first motor 32 and the head, complex linkage mechanisms (such as linkage mechanisms, gear transmission mechanisms, or rope pulley mechanisms) are usually required to transmit power to drive the head to move up and down around the nodding axis. These linkage mechanisms are structurally limited by physical dimensions and spatial arrangement, and are prone to mechanical interference with the neck structure when the head moves at large angles, thus limiting the maximum angle of the head nodding motion and affecting the robot's motion performance and perception range.

[0056] To address the aforementioned technical issues, this application provides a head assembly and robot that can free up neck space while avoiding mechanical interference with the neck structure during large-angle head movements, thereby increasing the maximum angle of head nodding motion and thus improving the robot's perception range and motion performance.

[0057] Example 1

[0058] like Figure 1 and Figure 2As shown, a head assembly includes a support member 1, a first connecting rod 2, and a head body 3. The first end of the first connecting rod 2 is rotatably connected to the support member 1. The head body 3 includes a head bracket 31, a first motor 32, and a connector 33. The head bracket 31 is rotatably connected to the support member 1. The first motor 32 is fixedly connected to the head bracket 31. The connector 33 is fixedly connected to the drive end of the first motor 32 and rotatably connected to the second end of the first connecting rod 2. The drive end of the first motor 32 and the second end of the first connecting rod 2 are connected at different positions on the connector 33, and the head bracket 31 and the second end of the first connecting rod 2 are rotatably connected at different positions on the support member 1.

[0059] The support component 1 primarily refers to the mechanical structures responsible for supporting and potentially allowing the robot head body 3 to move relative to the robot body (such as nodding). These components need sufficient strength and stability to support the weight of the head assembly, and depending on the specific application requirements, they may also need to provide precise positional control. The support component 1 can be a single-axis rotary support, allowing the head to rotate along one axis. This can be used in applications requiring pitch angle adjustment, such as the installation of surveillance cameras; this type of support component 1 can be a bearing system or bracket for mounting the pivot. The support component 1 can also be a multi-axis rotary support, providing greater flexibility to the head body 3, allowing it to be adjusted in multiple directions. Such designs are commonly used in humanoid robots requiring an all-around field of view or in advanced security systems. The support component 1 can also be an elastic or cushioning support; to absorb vibration or impact, elastic materials or structures may be used as the support component 1, which is particularly useful for improving system stability and protecting sensitive electronic equipment.

[0060] The head body 3 is a crucial component of the robot's structure. It not only houses the sensors and devices that enable the robot's vision and hearing functions but also plays a vital role in human-robot interaction. The head body 3 refers to the structural part located at the top of the robot that includes the facial area (even without a physical "face"). This part can integrate components such as cameras (for vision), microphones (for hearing), and displays or LEDs (for facial expressions or information display). Furthermore, the head body 3 can include unique designs to enhance the interactive experience, such as movable eyes, a mouth, or other forms of facial expression simulation devices. The head body 3 can be a functional head, focusing on specific functions such as visual recognition and speech recognition. These can be designed to be relatively simple, emphasizing the integration of efficient sensors and computing hardware. For example, industrial inspection robots might have a specially designed head to carry high-resolution cameras and other inspection equipment. The head body 3 can also be anthropomorphic. To improve friendliness and communication efficiency with human users, many service robots adopt anthropomorphic head designs. These heads can mimic human appearance features, equipped with elements such as eyes, mouth, and even hair, and can express various expressions through screen displays or mechanical movements. The head body 3 can also be a multifunctional composite head. This type of head body 3 aims to integrate multiple functions. In addition to basic audiovisual functions, it may also have touch sensing and environmental perception (such as temperature and humidity) functions. They are suitable for application scenarios requiring complex interactions, such as home assistant robots or educational and entertainment robots. The head body 3 can also be a modular head. With the growth of personalized needs, some manufacturers have begun to offer modular head design solutions, allowing users to replace different head modules according to their needs to adapt to different tasks or occasions. This provides users with a more flexible way to customize their robots. For certain specific application areas, such as medical rehabilitation and disaster relief, there are specially designed robot head bodies 3. These heads can be equipped with special sensors or actuators to meet specific professional requirements.

[0061] The head support 31 is a crucial component of the robot's head body 3. It primarily supports and secures the robot's first motor 32, sensors (such as cameras and microphones), display screen, and other related components. The head support 31 not only needs to provide sufficient strength to ensure the safety and stability of these devices but also integrates various functional modules and allows for necessary movement or adjustments. The head support 31 may also include functions such as heat dissipation management and wiring channels. The head support 31 can allow the head to rotate along a specific axis, such as the horizontal axis (for vertical viewing adjustment). This design is suitable for monitoring systems and video conferencing robots to expand the field of view or improve the interactive experience. The head support 31 can also be a multi-axis rotating support, providing the head with a wider range of degrees of freedom and supporting complex motion patterns, such as omnidirectional viewing adjustments. Multi-axis supports can contain two or more rotation axes, allowing the head to move flexibly in three-dimensional space. This type of design is particularly suitable for humanoid robots, advanced security systems, and service robots requiring high interactivity. In addition to basic rotation functions, the support can also allow users to manually or via motor-driven adjustments to parameters such as the head's height and angle. This flexibility allows the same robot to adapt to different task requirements or environmental conditions. It can also combine advanced sensor technology and algorithms. With the use of intelligent adaptive brackets, the head position can be automatically adjusted according to the surrounding environment to optimize visual or auditory input. For example, when navigating in a complex environment, the robot can autonomously adjust the angle of the camera to obtain the best field of view.

[0062] In some specific embodiments, the head support 31 may include a support body 311 and a connecting plate 312. The support body 311 is fixedly connected to the first motor 32. The connecting plate 312 is disposed on one side of the support body 311 and is used to mount the damping shaft. The connecting member 33 may correspond to the position of the damping shaft and be coaxially arranged with the damping shaft to facilitate the installation of the damping shaft. For example, the connecting member 33 may be bolted to the fixed end or rotating end of the damping shaft.

[0063] The main support body 311 is the core component of the robot head support 31, primarily responsible for providing structural support and a fixed mounting surface for key components such as cameras, sensors, and displays. It not only needs sufficient strength and rigidity to ensure the safety and stability of these sensitive devices but also needs to consider how to effectively integrate with other mechanical components (such as connecting plates 312 and motors) and electronic components. To reduce the robot's overall weight and improve energy efficiency, the main support body 311 is typically made of lightweight yet strong materials, such as aluminum alloy or carbon fiber. While maintaining structural strength, its size is minimized to free up space for other components and make the entire system more compact. If heat-generating elements (such as motors) are mounted on the main support body 311, appropriate heat dissipation channels or heat sinks can be installed to prevent overheating damage. The head support 31 can be a frame structure, composed of several support rods forming an open frame. This structure saves materials and reduces weight while providing good visibility and ease of installation. The head support 31 can also be a box-type structure, a closed box shape that better protects internal components from external environmental influences, suitable for applications with high protection requirements. The head support 31 can also be a flat plate structure: a simple planar design suitable for mounting a single type of sensor or display. This structure is easy to manufacture and has a lower cost. The support body 311 can be directly or through an intermediary (such as a flange) fixedly connected to the first motor 32 that drives its movement. This connection method requires high precision and stability to ensure that the support body 311 can accurately execute the predetermined motion trajectory under motor drive. The support body 311 can be integrally formed with the connecting plate 312, which acts as an intermediate medium to connect the support body 311 to other robot components (such as the base, arm, etc.). The design of the connecting plate 312 needs to consider ease of assembly and adjustment, and may include multiple holes or slots for flexible adjustment of position and angle. Various interfaces and mounting points can be reserved on the support body 311 for direct mounting or mounting of devices such as cameras, microphones, and infrared sensors via adapters. The position and layout of these mounting points need to be carefully designed to meet the requirements of optimal performance.

[0064] The first motor 32 is a crucial component of the robot's head body 3, used to drive the rotation of the connecting member 33. It not only needs to provide sufficient power to support the robot's motion requirements but also needs excellent control performance to ensure the accuracy and stability of the movements. The first motor 32 can be a DC motor, suitable for applications requiring simple speed adjustment; the speed can be adjusted by changing the input voltage. However, its positioning accuracy is relatively low, making it suitable for low-cost applications or those with less stringent position control requirements. The first motor 32 can also be a stepper motor, capable of precise positioning under open-loop control. It drives rotation by sending pulse signals to the motor, with each pulse corresponding to a specific angle increment. This is ideal for applications requiring precise positioning. The first motor 32 can also be a servo motor, combined with a closed-loop control system. It uses a built-in encoder to provide real-time position feedback, achieving high-precision position control. Servo motors are characterized by fast response, high torque, and high positioning accuracy, and are widely used in industrial robots, automation equipment, and other fields. The first motor 32 can also be a brushless DC motor (BLDC). Compared to traditional brushed DC motors, BLDC motors have no brushes, reducing mechanical wear, improving efficiency and reliability, and also reducing noise, making them suitable for high-speed, high-efficiency applications. The first motor 32 can also be a torque motor, specifically designed to provide high torque output, particularly suitable for applications that directly drive loads without a gearbox. They can be directly mounted where torque is required, simplifying the design of the transmission system. The first motor 32 can also be a servo motor, a special type of motor system that includes not only a motor but also a feedback control system for precise control of position, speed, and acceleration. Servo motors are widely used in robotics because they provide precise position control. For example, the first motor 32 may include a drive body and a drive end, with the drive end connected to a connector 33 to drive the connector 33 to rotate.

[0065] The connector 33 is a component used to connect the first motor 32 and the first connecting rod 2 to each other, allowing relative motion or force transmission between them. The connector 33 not only provides a physical connection but also transmits force, torque, or motion, ensuring the coordinated operation of the entire system. The connector 33 can be in the form of a connecting rod or a wheel, etc. The first motor 32 transmits torque to the first connecting rod 2 through the connector 33, and together with the head support 31, the load-bearing member 1, the first connecting rod 2, and the connector 33, forms a planar transmission mechanism.

[0066] For small motors or servos, their output shafts can be directly connected to connector 33 (e.g., a simple wheel and linkage) to transmit torque. This method is suitable for applications that do not require complex force or motion conversion. For example, the first motor 32 and connector 33 can be connected using a shaft-and-hole fit, which is one of the most direct methods, achieved by inserting the motor's output shaft into a hole on the load component (connector 33). To ensure good torque transmission and prevent loosening, interference fits, keyways with flat keys, or splines can be used. Interference fits rely on precision manufacturing to ensure tight contact; keyways and flat keys provide a mechanical locking mechanism, increasing friction and preventing slippage. The first motor 32 and connector 33 can also be flange-connected. In some applications, the motor and load can be fixedly connected via flanges, which typically have multiple bolt holes, allowing the two flanges to be tightly secured together with bolts. This method is suitable for applications requiring high rigidity and positioning accuracy. Flange connections can effectively transmit large torques and withstand certain radial and axial loads. The first motor 32 and the connecting member 33 can also be directly connected using a coupling. While couplings are typically used to compensate for misalignment between different shafts, they can also be used as direct connection devices in certain situations, especially those with high rigidity. Choosing the appropriate coupling type is crucial, such as diaphragm couplings or claw couplings, which provide flexibility while ensuring good torque transmission and help reduce the impact of vibration and shock on the system. The first motor 32 and the connecting member 33 can also be designed as an integrated unit, with the motor rotor directly serving as part of the load or the load directly mounted on the motor shaft. This approach minimizes intermediate steps, improving efficiency and reliability, but requires high manufacturing precision and assembly technology.

[0067] The first link 2 is a mechanical component used to convert the motion of one component into the motion of another. The link can rotate at two points to achieve complex motion conversions. The first link 2 can transmit power and motion and control the relative position or motion state between different parts of the head assembly; for example, rotation of the first link 2 around its first end can drive the head body 3 to rotate. The first link 2 can be a monolithic link, a single-piece link made of a single material, with a simple structure but limited strength and rigidity due to the material. The first link 2 can also be a modular link composed of multiple parts, fixed together by bolts or other means, facilitating manufacturing and maintenance, and allowing for optimized design of each part to adapt to specific working conditions.

[0068] A swivel connection refers to a connection method that allows two components to rotate relative to each other around a fixed axis. This type of connection is an indispensable part of many mechanical devices because it can not only transmit force and torque but also absorb misalignment errors to a certain extent. Swivel connections can be bearing connections, such as ball bearings or roller bearings, which use rolling elements (such as steel balls or rollers) to reduce friction, allowing the connecting rod to rotate freely around a fixed axis. They have low frictional resistance, are suitable for high-speed and high-load applications, are easy to maintain, and have a long service life, making them widely used in industrial machinery, automotive parts, and other applications requiring high precision and durability. They can also be flat bearings, which do not have rolling elements and rely on sliding between two surfaces to achieve rotation. They have a simple structure and are suitable for light loads and low-speed applications, particularly in certain mechanical devices where cost is sensitive and heavy loads are not required. Swivel connections can also be hinge connections, such as ordinary hinges, which consist of a pin and a hole, allowing components to rotate relative to each other in a plane. They are simple in construction, easy to manufacture and install, and have a lower cost. They are used in opening and closing actions such as doors and covers, or in simple robotic arm joints. Hinged connections can also be universal joints, which allow for effective transmission of rotational motion and torque even with a certain angular misalignment between the two connected shafts. They offer high flexibility and can compensate for misalignment errors within a certain range. Joint connections can also be spherical plain bearings, specifically designed to withstand large radial and axial loads while also allowing for a certain degree of angular displacement. They can withstand complex load conditions and are suitable for applications requiring flexible movement. Rotary connections can also be flexible couplings. Although flexible couplings are typically used for shaft-to-shaft connections, they can also be used for rotary connections between connecting rods and load-bearing components in certain situations, especially when vibration absorption or compensation for minor misalignment is required. Besides basic rotational functions, they also possess flexibility and vibration damping capabilities. This allows for compensation for installation errors and vibration absorption to a certain extent, making them suitable for precision instruments and high-precision transmission systems. Rotary connections can also be achieved through damped shafts. Damped shafts not only allow relative rotation between components but also provide resistance (i.e., damping) during rotation to control or slow down the rotational speed, ensuring a smooth operating experience. A damping pivot is a specially designed pivot containing a damping medium (such as oil, gel, etc.) or mechanical structure. It generates resistance during rotation, thereby controlling rotational speed and reducing vibration. The damping effect provides smoother rotation, avoids shocks caused by sudden opening or closing, prevents rapid rotation due to unexpected external forces, protects user safety, and reduces wear on mechanical components by absorbing vibration and impact, thus extending service life. For example, the headrest 31 and the load-bearing member 1 can be connected via a damping pivot to prevent tilting due to the weight of the head assembly. The first and second ends of the first link 2 can be connected via a standard hinge and connector 33 and the load-bearing member 1.

[0069] like Figure 2 and Figure 3As shown, compared with the prior art, the head component provided by the present application effectively releases the neck space for wiring and the layout of other functional modules by setting the first motor 32 as a part of the head body 3 and fixedly connecting it to the head bracket 31. It also rotatably connects the head bracket 31 of the head body 3 to the carrier 1, fixedly connects the driving end of the first motor 32 to the connecting member 33, connects the connecting member 33 to the second end of the first link 2, rotatably connects the first end of the first link 2 to the carrier 1, and makes the driving end of the first motor 32 and the second end of the first link 2 connected to different positions of the connecting member 33, and the head bracket 31 and the second end of the first link 2 rotatably connected to different positions of the carrier 1, thereby forming a planar link transmission mechanism with the carrier 1 as the frame, so that the driving end of the first motor 32 drives the connecting member 33 to transmit power to the first link 2, and then makes the first link 2 rotate relative to the carrier 1 while driving the head body 3 to rotate relative to the carrier 1 to complete the nodding action, reducing the transmission distance and avoiding mechanical interference between the head and the neck structure during large-angle movement of the head, thereby increasing the maximum movement angle of the head nodding action and improving the perception range and action expressiveness of the robot.

[0070] As Figure 2 and Figure 3 shown, in some modified embodiments of the present application, the connecting member 33 is a disk, the driving end of the first motor 32 is fixedly connected to the first position of the disk, and the second end of the first link 2 is connected to the second position of the disk; wherein, the first position is the central position of the disk, the second position is the edge position of the disk, and the distance between the first position and the second position is less than the length of the first link 2.

[0071] The disk is a circular or approximately circular rigid disk-like structure. The first position is the central position of the disk, which is the rotation axis of the disk. The second position is the edge position of the disk, that is, a point at a certain radius from the center, used to connect the link. The output shaft (driving end) of the motor is fixedly connected to the central position (first position) of the disk, directly driving the disk to rotate around its central axis. This connection method is coaxial connection, ensuring that the disk and the motor rotate synchronously. The first end of the first link 2 is connected to the carrier 1 through a rotational connection (such as a hinge, bearing), and the second end is connected to the edge of the disk (second position) through a rotational connection (such as a pin shaft, ball head). The length of the link is denoted as L, and the distance from the center of the disk to the edge connection point is r, r < L can achieve torque amplification. The first motor 32 rotates to drive the disk to rotate around the motor axis (if the connection point is eccentric, the trajectory is a small circle). The disk drives the first end of the first link 2 to make a small swing or arc movement. Since the carrier 1 does not move, it is fixed to the neck component 5 (such as Figure 1shown) or on the robot body, and the driving member is rotatably connected to the carrier 1 through the head bracket 31. Therefore, a small swing or arc movement of the first end will drive the rotation of the head body 3 (the first connecting member 33, the driving member and the head bracket 31), thereby realizing the nodding action.

[0072] As Figure 4 shown, in some alternative embodiments of the present application, the connecting member 33 is a second connecting rod. One end of the second connecting rod is connected to the driving end of the first motor 32, and the other end of the second connecting rod is connected to the first end of the first connecting rod 2. The length of the second connecting rod is less than the length of the first connecting rod 2.

[0073] One end of the second connecting rod is connected to the driving end of the first motor 32 (which can be directly connected to transmit torque), and the other end is connected to the first end of the first connecting rod 2 through a rotational connection (such as a pin shaft or a hinge). Its length is denoted as L2. The first end of the first connecting rod 2 is connected to the second connecting rod, and the second end is connected to the carrier 1 with a length denoted as L1, and it satisfies: L2 < L1. The second connecting rod is shorter, and the first connecting rod 2 is longer, forming a lever structure of "short driving and long following". The first motor 32 rotates to drive the second connecting rod to make a circular motion around the motor axis (if the connection point is eccentric, the trajectory is a small circle). The second connecting rod drives the first end of the first connecting rod 2 to make a small swing or arc movement. Since the first connecting rod 2 is longer (L1 > L2), the movement of its second end is "amplified" or "smoothed". Similarly, since the carrier 1 is stationary and fixed on the neck assembly 5 or the robot body, and the driving member is rotatably connected to the carrier 1 through the head bracket 31, a small swing or arc movement of the first end will drive the rotation of the head body 3 (the first connecting member 33, the driving member and the head bracket 31), thereby realizing the nodding action.

[0074] As Figure 1 shown, in some alternative embodiments of the present application, it further includes a first damping rotating shaft 4. The head bracket 31 is rotatably connected to the carrier 1 through the first damping rotating shaft 4. There are two first damping rotating shafts 4, and the two first damping rotating shafts 4 are coaxially arranged and are respectively arranged on both sides of the carrier 1.

[0075] The first damping shaft 4 is a specially designed mechanical shaft that not only allows relative rotation between connected components but also provides resistance (i.e., damping) during rotation. This characteristic helps control rotational speed, absorb vibrations and shocks, and ensure smoother and safer operation. The first damping shaft 4 can be a hydraulic damping shaft, utilizing the viscosity of a liquid (such as oil) to generate damping force. When the shaft rotates, the internal liquid is forced through narrow channels, creating resistance. It can provide stable and adjustable damping force, suitable for applications requiring high precision. The first damping shaft 4 can also be a friction damping shaft, relying on the friction between two surfaces to achieve a damping effect. The coefficient of friction can be adjusted using specific material combinations or by adding lubricants. It has a simple structure, low cost, and is easy to maintain, making it suitable for light-load applications. The first damping shaft 4 can also be a spring-damper combination type damping shaft, combining a spring and a damper to provide both rebound force and control rotational speed. Springs provide restoring force, while dampers absorb energy and slow down movement, enabling automatic reset and compensating for installation errors and absorbing vibrations within a certain range. The first damping shaft 4 can also be a magnetorheological fluid damping shaft. It utilizes the characteristic of magnetorheological fluid (MRF) changing its viscosity under an applied magnetic field to adjust the damping force. The damping force can be adjusted in real time via electronic control, offering high flexibility and adaptability to complex and changing working environments.

[0076] The head support 31 can rotate smoothly relative to the support member 1 via the first damping shaft 4. During robot movement, if independent head movement is not required, the damping shaft can resist the swaying caused by the robot's rotation through pre-set damping, thus keeping the head stationary and consuming no power while stationary. Furthermore, when the drive unit is transmitted through the connector 33 and the first link 2, the damping shaft can reduce movement backlash, thereby increasing the head's stability. The appropriate specifications of the damping shaft should be selected based on the weight of the head support 31, the expected rotation angle, and the required damping effect. Ensure that there is a suitable location on the support member 1 to install the damping shaft, and that this location has sufficient strength to withstand the expected load. For the head support 31, its center of gravity should be considered to ensure balance during rotation. During assembly, fix one end of the damping shaft to the carrier 1 using bolts or other fasteners, and then connect the other end to the head bracket 31 using appropriate fastening methods. Throughout the process, ensure that all components are correctly aligned to ensure smooth rotation. For example, the fixed end of the damping shaft can be fixed to the carrier 1, and the movable end can be connected to the head bracket 31. After the initial installation is completed, perform a functional test to check for abnormal noise or poor movement. If necessary, adjust the adjustment device on the damping shaft (if available) to optimize performance. Regularly check the condition of the damping shaft, including lubrication (for friction type) and sealing (for hydraulic type), to ensure long-term reliable operation.

[0077] Since the nodding mechanism rotates around a horizontal axis, it is easily affected by gravity. Therefore, the nodding bracket and the neck cable tray are connected by two damping shafts. The two first damping shafts 4 are coaxially arranged to provide a damping effect. The two first damping shafts 4 are respectively arranged on both sides of the bearing 1 to make the structure more stable and prevent it from sagging under the influence of gravity.

[0078] like Figure 5 As shown, in some modified embodiments of this application, the first damping shaft 4 includes a first shaft 41, a second shaft 42 and a damping structure. The first shaft 41 is fixedly connected to the bearing member 1, the second shaft 42 is rotatably connected to the first shaft 41, and the second shaft 42 is fixedly connected to the head bracket 31. The damping structure is disposed between the first shaft 41 and the second shaft 42.

[0079] The first shaft 41 is the part of the damping shaft that is fixedly connected to the carrier 1. It is typically the static or foundational part of the entire mechanism, responsible for providing a stable mounting point. The first shaft 41 provides a robust mounting platform, ensuring that the entire damping shaft is securely fixed to the carrier 1, participating in the damping effect as part of the damping structure. It may include mounting holes or other forms of fixing interfaces (such as threaded holes) for connection to the carrier 1. In some designs, the first shaft 41 may also contain flow channels or chambers to accommodate the damping medium (if hydraulic damping is used).

[0080] The second shaft 42 is fixedly connected to the head support 31 and can rotate relative to the first shaft 41. It is the dynamic component, allowing the head support 31 to rotate about a specific axis. The second shaft 42 bears the weight of the head support 31 and transmits external forces (such as those applied by the user during manual adjustment), achieving angular adjustment of the head support 31 through relative movement with the first shaft 41. The second shaft 42 is designed with strength and wear resistance in mind to withstand friction and loads during long-term use. In some cases, the second shaft 42 may be equipped with bearings or other low-friction components to reduce wear and improve rotational smoothness.

[0081] A damping structure is a component positioned between the first shaft 41 and the second shaft 42 to generate a damping effect. Its function is to provide resistance during rotation, thereby controlling the rotational speed and preventing rapid or uncontrolled rotation. The damping structure can control rotational speed, making operation smoother, absorbing vibrations and shocks, protecting mechanical components from damage, and improving the user experience, such as automatically maintaining position after angle adjustment and preventing slippage. The damping structure can be a component that generates a damping effect, such as a damping fluid, lubricant, or spring.

[0082] like Figure 1 and Figure 4 As shown, in some modified embodiments of this application, the first motor 32 is disposed on one side of the first damping shaft 4.

[0083] In traditional designs, if the motor and damping shaft are coaxially mounted (e.g., the motor output shaft is directly part of the shaft), the motor body must be placed on the extension line of the shaft, occupying valuable axial space. However, by placing the motor on one side of the damping shaft (lateral mounting), the motor does not encroach on the axial channel, freeing up space in the left-right direction (along the shaft axis) of the head assembly. This results in a flatter, more compact overall structure, particularly suitable for space-constrained applications. Since the axial space is not occupied by the motor, other critical components, such as sensors (cameras, infrared emitters, attitude sensors), display modules (e.g., small displays), cable channels or wireless modules, heat dissipation structures, or battery units, can be flexibly arranged in the left and right areas of the damping shaft. This layout enhances the integration capability of the head assembly, facilitating multi-functional integrated designs. With the motor side-mounted, the head bracket 31 has a simpler, more symmetrical appearance, avoiding visual obstruction or discomfort caused by a protruding motor. If the motor is coaxially integrated with the damping shaft, the electromagnetic force, vibration, or installation preload of the motor may affect the stability or feel of the damping structure. The side-mounted motor is indirectly driven by a linkage, avoiding direct application of axial pressure or torque disturbance, which helps maintain the smooth feel and long-term stability of the damping shaft.

[0084] like Figure 4 As shown, in some modified embodiments of this application, a controller 7 is also included. The controller 7 is electrically connected to the first motor 32. The controller 7 is located on the side of the first damping shaft 4 away from the first motor 32 and is fixedly connected to the head support 31.

[0085] Controller 7 is an electronic device or system used to control the operation of other devices (such as motors). In mechanical systems, controller 7 is typically used to receive input signals (from sensors, user interfaces, or other control systems), process these signals, and output instructions to actuators (such as motors). Controller 7 can send current or voltage signals to control the speed, direction, and start / stop of the motor. It can also acquire data from sensors, such as position, speed, and temperature, and adjust the motor's operating parameters based on feedback information to achieve the desired function or effect. Furthermore, it can ensure the system operates within safe limits, preventing overheating, overload, and other issues. For example, controller 7 can be a programmable logic controller (PLC), a microcontroller unit (MCU), or the motherboard of a robot.

[0086] The controller 7 is located on the side of the first damping shaft 4 away from the first motor 32 and is fixedly connected to the head bracket 31. That is, the controller 7 and the first motor 32 are respectively located on both sides of the first damping shaft 4, thereby balancing the weight of the first motor 32 and preventing one side of the first damping shaft 4 from being too heavy and tilting.

[0087] like Figure 4As shown, in some modified embodiments of this application, a limiting structure 6 is further included. The limiting structure 6 is fixedly connected to the carrier 1 and contacts the first link 2. The limiting structure 6 refers to a device or component used to limit the range of motion of mechanical parts, ensuring that these parts operate within a predetermined safe range. The limiting structure 6 is mounted on the carrier 1 and contacts the moving parts (such as the first link 2) to prevent excessive movement that could cause equipment damage or malfunction. The limiting structure 6 can limit the rotation angle and control the zero point, which is crucial for protecting the mechanical system from accidental impacts and wear, as well as improving the reliability and safety of the system.

[0088] For example, the limiting structure 6 can be a stop, a solid block fixed to the bearing 1, which contacts the connecting rod when it reaches its limit position and stops further movement. The limiting structure 6 can also be a limiting bolt, whose position is adjusted to set the maximum stroke. The limiting structure 6 can also be a stop pin, inserted into a specific hole or fixed to the path, acting as a mechanical barrier.

[0089] Example 2

[0090] like Figure 1 As shown, a robot includes a neck assembly 5 and a head assembly, which are connected to the neck assembly 5. The head assembly includes a support member 1, a first link 2, and a head body 3. The first end of the first link 2 is rotatably connected to the support member 1. The head body 3 includes a head support 31, a first motor 32, and a connector 33. The head support 31 is rotatably connected to the support member 1. The first motor 32 is fixedly connected to the head support 31. The connector 33 is fixedly connected to the drive end of the first motor 32 and rotatably connected to the second end of the first link 2. The drive end of the first motor 32 and the second end of the first link 2 are connected at different positions on the connector 33, and the head support 31 and the second end of the first link 2 are rotatably connected at different positions on the support member 1.

[0091] A robot is a machine capable of automatically performing tasks, typically controlled by computer programs. It can sense its environment, make decisions, and take action. Robots can be stationary (such as industrial robots) or mobile (such as service robots), and they are widely used in manufacturing, healthcare, agriculture, and households, among other fields. For example, robots can be industrial robots used for tasks such as welding, painting, and assembly on automated production lines. Robots can also be service robots, providing various services to humans, such as cleaning, care, and education. Robots can also be special-purpose robots, performing specific tasks such as rescue, exploration, and military applications. Robots can also be medical robots, assisting doctors in surgery and rehabilitation training. Robots can also be entertainment robots, used for performances and interactive games. Robots can also be agricultural robots, used for sowing, harvesting, and monitoring crop growth. Robots can also be household robots, such as robotic vacuum cleaners and smart speakers.

[0092] Robots can be dog-like robots (also known as robotic dogs or quadruped robots). These robots mimic the appearance and movement of real dogs, possessing abilities such as walking, running, jumping, and climbing stairs. They are widely used in scientific research, security patrols, rescue operations, education, and entertainment. A dog-like robot is a biomimetic quadruped robot whose structure and movement mimic real canines. It can have four independently controllable legs, enabling stable walking on complex terrain; it can also have a perception system (such as cameras, lidar, IMU, etc.) for environmental awareness; its control system can achieve autonomous navigation, obstacle avoidance, and voice interaction; and it can also possess certain human-computer interaction capabilities, such as facial expression display, sound feedback, and following behavior.

[0093] The neck component 5 refers to the mechanical structure connecting the head component and the torso (main body), allowing the head to perform a certain degree of independent movement (such as pitch and rotation) to achieve purposes such as perspective adjustment, posture expression, or interaction. The neck component 5 can be a fixed neck, with the head rigidly connected to the torso, having no independent movement capability; this design is the simplest, lightweight, and highly stable. The neck component 5 can also be a single-degree-of-freedom neck, supporting left and right head tilting (pitch) for adjusting the camera's perspective. Alternatively, the neck component 5 can be a flexible bionic neck using multi-link or flexible structures to simulate the muscle movements of a dog's neck, achieving a more natural dynamic posture.

[0094] The head assembly is the core module for the dog-like robot's perception, interaction, and expression. Its specific structure is as described in Example 1 and will not be repeated here. The camera mounted on the head can rotate with the neck, expanding the field of view and enabling "head-turning observation" behavior. When a user calls out, the robot dog can "turn its head" towards the sound source, enhancing the realism of the interaction. The head's sensors can scan the terrain ahead, and the neck adjusts its angle to obtain the optimal viewing angle. Furthermore, head postures (head down, head up, head tilt) combined with facial expressions displayed on the device can convey emotions such as "curiosity" and "obedience."

[0095] The rear side refers to the side opposite to the robot's normal forward direction or frontal orientation. For example, for a dog-type robot, the front side of the head is where the nose and camera are located, while the rear side is the back near the torso; for a humanoid robot, the front side is the face (with a screen or camera), and the rear side is the back of the head. Positioning the drive components on the rear side allows them to be hidden behind the head, avoiding affecting the appearance, balancing the head's center of gravity, preventing forward tilting, and improving movement stability. Specifically, non-interactive components (such as motors and connectors) can be hidden on the rear side, maintaining a clean, anthropomorphic, or biomimetic appearance on the front of the head, avoiding obstruction of key components such as cameras, microphones, and facial expression displays, thus enhancing perception and approachability. The front side of the head typically integrates heavier camera modules and screens; placing drive motors or counterweights on the rear side achieves front-to-back mass balance, preventing excessive inertial torque when the head tilts forward or swings. This is particularly suitable for neck mechanisms that support pitch or rotation movements, improving control accuracy and lifespan.

[0096] Compared to existing technologies, the robot head assembly provided in this application effectively frees up neck space by incorporating the first motor 32 as part of the head body 3 and fixing it to the head support 31, facilitating wiring and the layout of other functional modules. Furthermore, by rotatably connecting the head support 31 of the head body 3 to the carrier 1, the drive end of the first motor 32 is fixedly connected to the connector 33, the connector 33 is connected to the second end of the first link 2, and the first end of the first link 2 is rotatably connected to the carrier 1, thus connecting the drive end of the first motor 32 and the second end of the first link 2 to the connector 33. At different positions, the second end of the head support 31 and the first link 2 are rotatably connected to different positions of the carrier 1, thereby forming a planar linkage transmission mechanism with the carrier 1 as the frame. This allows the first motor 32 to drive the connecting member 33 to transmit power to the first link 2, thereby causing the first link 2 to rotate relative to the carrier 1 while simultaneously driving the head body 3 to rotate relative to the carrier 1 to complete the nodding action. This reduces the transmission distance and avoids mechanical interference with the neck structure when the head moves at large angles, thereby increasing the maximum angle of the head nodding action and improving the robot's perception range and action performance.

[0097] like Figure 6As shown, in some modified embodiments of this application, the neck assembly 5 includes a neck support 52, a neck body 51, a connecting rod structure 53, and a second motor 55. The neck body 51 is rotatably connected to the neck support 52 via a second damping shaft 54, and the neck body 51 is fixedly connected to the carrier 1. One end of the connecting rod structure 53 is connected to the neck body 51, and the second motor 55 is connected to the other end of the connecting rod structure 53. The second motor 55 is fixedly connected to the neck support 52. The head support 31 is perpendicular to the rotation axis of the carrier 1 and the rotation axis of the second damping shaft 54. The neck body 51 is provided with at least one through hole, which extends along the rotation axis of the second damping shaft 54.

[0098] The neck support 52 is a support structure fixed under the robot's torso or head, providing a mounting base and ensuring that the entire neck assembly 5 is securely connected to the robot's body. The neck support 52 can be a rigid support made of metal materials (such as aluminum alloy or stainless steel), possessing high strength and rigidity, capable of withstanding external loads without deformation. Alternatively, the neck support 52 can be a flexible support: using materials with a certain degree of elasticity (such as carbon fiber composites) to absorb vibration or impact and protect internal components.

[0099] The neck body 51 is the core component connecting the head and torso. It may contain multiple joints or pivots, allowing the head to move freely within a certain range (such as pitch and rotation). It also serves as the basic platform for supporting sensors, cameras, and other devices. The neck body 51 can be a single-degree-of-freedom body, supporting rotation in only one direction (such as rotation), suitable for simple head movement needs. The neck body 51 can also be a multi-degree-of-freedom body, supporting independent rotation in multiple directions (such as rotation + tilt), simulating more complex biological behaviors, suitable for high-end service robots or biomimetic robots. The neck body 51 has at least one through-hole extending along the rotation axis of the second damping pivot 54. The through-hole facilitates the passage of cables and connection to the head assembly, thereby facilitating the transmission of electricity and signals between the robot body and the head assembly.

[0100] The linkage structure 53 is a mechanical transmission device that connects different components through a series of links and hinges, transmitting the power of the second motor 55 to the neck body 51 for precise control. The linkage structure 53 can be a parallel four-bar linkage, ensuring the end effector always moves within the same plane, often used to improve motion accuracy. For example, the second motor 55 can be fixedly connected to the rotating head active linkage 531, which is rotatably connected to the extended linkage 532 via a pin. The extended linkage 532 is rotatably connected to the passive linkage 533 extending from the cable tray (neck body 51) via a pin. The cable tray is fixedly connected to the movable end of the damping shaft, which is rotatably connected to the fixed end. The fixed end is fixedly connected to the rotating head bracket, forming a parallel four-bar linkage. The motor rotation drives the neck cable tray to rotate left and right, extending the transmission distance while maintaining low manufacturing cost and high reliability. The linkage structure 53 can also be a dual rocker mechanism: two rockers are connected to the drive source and load respectively, enabling a wider range of swinging or rotation, commonly used for complex posture adjustments. The structure and type of the second damping shaft 54 ​​and the second motor 55 can be the same as those of the first damping shaft 4 and the first motor 32, and will not be described in detail here.

[0101] The neck body 51 is connected to the neck support 52 via a second damping shaft 54. At this time, the neck body 51 can rotate freely within a certain angle range, while being limited by the damping effect to avoid excessively fast or uncontrolled movement. When the drive unit (such as a servo motor) receives a control signal, it begins to output torque. The drive unit transmits power to the neck body 51 through a linkage structure. The design of the linkage structure allows the neck body 51 to be finely adjusted in multiple directions. The second damping shaft 54 ​​provides the necessary resistance to ensure smooth and controllable movement and prevent excessive swaying or vibration due to inertia.

[0102] The head support 31 is perpendicular to the rotation axis of the bearing 1 and the rotation axis of the second damping shaft 54, that is, the rotation axis of the first damping shaft 4 and the rotation axis of the second damping shaft 54 ​​are perpendicular. The movement of one axis has little impact on the motion load of the other axis. For example, the second damping shaft 54 ​​can be arranged vertically to complete the head turning action, and the first damping shaft 4 can be arranged horizontally to complete the head nodding action.

[0103] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A head assembly, characterized in that, include: Load-bearing components; The first link, the first end of the first link being rotatably connected to the bearing member; The head body includes: A head support, which is rotatably connected to the support member; A first motor is fixedly connected to the head support; A connector is fixedly connected to the drive end of the first motor and rotatably connected to the second end of the first connecting rod. The drive end of the first motor and the second end of the first connecting rod are connected to different positions of the connector, and the head bracket and the second end of the first connecting rod are rotatably connected to different positions of the bearing.

2. The head assembly according to claim 1, characterized in that, The connecting component is a wheel, the drive end of the first motor is fixedly connected to a first position of the wheel, and the second end of the first connecting rod is connected to a second position of the wheel; wherein, the first position is the center position of the wheel, the second position is the edge position of the wheel, and the distance between the first position and the second position is less than the length of the first connecting rod.

3. The head assembly according to claim 1, characterized in that, The connecting component is a second connecting rod, one end of which is connected to the drive end of the first motor, and the other end of which is connected to the first end of the first connecting rod. The length of the second connecting rod is less than the length of the first connecting rod.

4. The head assembly of claim 1, wherein, Also includes: The first damping pivot shaft is used to rotatably connect the head bracket to the bearing member. There are two first damping shafts, which are coaxially arranged and respectively located on both sides of the bearing member.

5. The head assembly according to claim 4, characterized in that, The first damping shaft includes: A first shaft is fixedly connected to the bearing member; The second shaft is rotatably connected to the first shaft and is fixedly connected to the head bracket; A damping structure is disposed between the first shaft and the second shaft.

6. The head assembly according to claim 4, characterized in that, The first motor is located on one side of the first damping shaft.

7. The head assembly of claim 6, wherein, Also includes: The controller is electrically connected to the first motor and is located on the side of the first damping shaft away from the first motor and is fixedly connected to the head bracket.

8. The head assembly of claim 1, wherein, Also includes: A limiting structure is fixedly connected to the bearing member and contacts the first connecting rod.

9. A robot, characterized in that include: Neck assembly; A head assembly, wherein the head assembly and the neck assembly are connected; Load-bearing components; The first link, the first end of the first link being rotatably connected to the bearing member; The head body includes: A head support, which is rotatably connected to the support member; The first motor is fixedly connected to the head support and is located at the rear of the robot. A connector is fixedly connected to the drive end of the first motor and rotatably connected to the first end of the first connecting rod. The drive end of the first motor and the first end of the first connecting rod are connected to different positions of the connector, and the head bracket and the second end of the first connecting rod are rotatably connected to different positions of the bearing.

10. The robot according to claim 9, characterized in that, The neck assembly includes: Neck brace; The neck body is rotatably connected to the neck support via a second damping shaft, and the neck body is fixedly connected to the bearing member; A linkage structure, one end of which is connected to the neck body; The second motor is connected to the other end of the connecting rod structure and is fixedly connected to the neck bracket. The head support is perpendicular to the rotation axis of the bearing and the rotation axis of the second damping shaft, and the neck body is provided with at least one through hole, which extends along the rotation axis of the second damping shaft.

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