Head rotation module and humanoid robot

Abstract

The utility model provides a kind of head rotation module and humanoid robot, it is related to robot technical field.Head rotation module is set in head shell, support assembly in head rotation module includes head motor fixed seat and damping part, and head motor fixed seat upper end is provided with installation cylinder portion, and damping part is set in installation cylinder portion;Head power mechanism includes rotating assembly and power component, rotating assembly is located in installation cylinder portion, and with damping part abutting cooperation, power component is set in rotating assembly, to drive rotating assembly can rotate around its axis, and rotating assembly is transmission connection with head shell.The head rotation module can reduce the range of head power mechanism rotating around the axis of support assembly during power failure or transportation, to improve the use reliability of humanoid robot.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a head rotation module and a humanoid robot. Background Technology

[0002] Currently, the application scenarios of humanoid robots have expanded to diverse fields such as precision assembly in industrial production, customer reception in commercial services, and caregiving for the elderly in home settings. Most existing humanoid robots can achieve human-like coordinated limb movements. In particular, in terms of head structure design, through multi-degree-of-freedom joint drive, they can complete basic movements such as turning and pitching, meeting the posture requirements during human-computer interaction.

[0003] In the current head rotation mechanism, the head lacks effective braking constraints and is easily subject to external forces to rotate freely when the power is off. At the same time, during the transportation of humanoid robots, even when the robot is powered off, the head may still exhibit excessive and flexible shaking in bumpy environments. Both of these situations may cause collisions, displacements, or wire detachments of precision components such as sensors, circuit boards, and drive motors integrated inside the head. This not only affects the product's lifespan but may also cause startup failures, thereby affecting the reliability of the humanoid robot. Summary of the Invention

[0004] The purpose of this invention is to provide a head rotation module and a humanoid robot. The head rotation module can reduce the range of rotation of the head power mechanism around the axis of the support component during power outages or transportation, thereby improving the reliability of the humanoid robot.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A head rotation module, disposed within a head housing, includes:

[0007] The support assembly includes a head motor mounting base and a damping component. The head motor mounting base has a mounting cylinder at its upper end, and the damping component is disposed on the mounting cylinder.

[0008] The head power mechanism includes a rotating component and a power component. The rotating component is located on the mounting cylinder and abuts against a damping component. The power component is located on the rotating component to drive the rotating component to rotate around its own axis. The rotating component is connected to the head housing in a transmission manner.

[0009] As a further technical solution, the damping member is provided with a clearance area, and corresponding to the clearance area, the damping member is provided with an abutment protrusion on the side near the rotating component that abuts against the rotating component.

[0010] As a further technical solution, along the circumference of the rotating assembly, the two sides of the abutment protrusion are smoothly transitioned to the damping element.

[0011] As a further technical solution, two abutting protrusions are provided corresponding to the avoidance area. The two abutting protrusions protrude outward in opposite directions and abut against the mounting cylinder and the rotating assembly, respectively.

[0012] As a further technical solution, the damping member extends in a ring shape along the circumference of the mounting cylinder, and the damping member is sleeved on the mounting cylinder.

[0013] Along the circumference of the damping member, a plurality of clearance areas are evenly spaced on the damping member, and the abutment protrusion is provided in a one-to-one correspondence with the plurality of clearance areas.

[0014] As a further technical solution, the rotating assembly includes a motor housing bracket and a first bearing. The power assembly is disposed inside the motor housing bracket and fixed to the mounting cylinder. The lower end of the motor housing bracket is sleeved on the mounting cylinder. The first bearing is disposed between the power assembly and the inner wall of the motor housing bracket.

[0015] The outer wall of the mounting cylinder is provided with a receiving groove, and the receiving groove, the first bearing and the motor housing bracket cooperate to form a limiting space for restricting the relative position of the damping element.

[0016] As a further technical solution, along the circumference of the power component, two limiting baffles are spaced apart at the upper end of the power component. The head power mechanism also includes a rotation limiting component, which is fixed to the upper end of the motor housing bracket and located between the two limiting baffles. Both limiting baffles are used to limit the rotation of the head housing by engaging with the rotation limiting component.

[0017] As a further technical solution, the two limiting baffles are symmetrically arranged about the axis of the mounting cylinder.

[0018] As a further technical solution, a first buffer portion is provided on the side of both limiting baffles near the rotation limiting component;

[0019] And / or, the rotation limiting component is provided with a second buffer portion on the side near the power component;

[0020] And / or, the rotation limiting component has a smooth abutment surface on the end face near the power component.

[0021] Humanoid robot, including the aforementioned head rotation module.

[0022] Compared with existing technologies, the head rotation module and humanoid robot provided by this utility model have the following technical advantages:

[0023] Because the damping component is located in the mounting cylinder and the rotating assembly is located in the mounting cylinder and abuts against the damping component, the rotating assembly is connected to the head shell via a transmission. Therefore, during power outages or transportation, when the power assembly provides power to the rotating assembly to drive it to rotate around its own axis, the rotating assembly, through its abutting engagement with the damping component, increases the friction between the rotating assembly and the mounting cylinder. This reduces the range of rotation of the head power mechanism around the support assembly axis during power outages or transportation, and consequently reduces the range of rotation of the head shell around the support assembly axis. This reduces the risk of collisions, displacement, or wire detachment of precision components such as sensors, circuit boards, and drive motors within the head shell, ensuring their service life and reducing the risk of startup failures, thereby improving the reliability of the head rotating module and the humanoid robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of this utility model and these drawings without creative effort.

[0025] Figure 1 This is a cross-sectional view of the head rotation module provided in this embodiment of the utility model;

[0026] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0027] Figure 3 This is a schematic diagram of the damping component in the head rotation module provided in this embodiment of the utility model;

[0028] Figure 4 This is a partial structural schematic diagram of the head rotation module provided in this embodiment of the utility model;

[0029] Figure 5 yes Figure 4 Enlarged view of a section at point B in the middle;

[0030] Figure 6 This is a schematic diagram of the rotation angle of the head rotation module provided in this embodiment of the utility model;

[0031] Figure 7 This is a schematic diagram of the first state of the head rotation module provided in this embodiment of the utility model;

[0032] Figure 8 This is a schematic diagram of the second state of the head rotation module provided in this embodiment of the utility model.

[0033] In the picture:

[0034] 10. Head shell;

[0035] 100. Support assembly; 110. Head motor mounting base; 111. Mounting cylinder; 120. Damping component; 121. Clearance area; 122. Abutment protrusion; 130. Head support frame;

[0036] 200. Head power mechanism; 210. Rotating assembly; 211. Motor housing bracket; 212. First bearing; 213. Second bearing; 214. Stator module; 215. Head adapter; 216. Fixing plate; 220. Power assembly; 221. Limiting baffle; 230. Rotation limiting assembly. Detailed Implementation

[0037] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0038] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0039] In this application, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this application generally indicates that the preceding and following related objects have an "and / or" relationship.

[0040] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0041] In this application, those skilled in the art will understand that relative terms (e.g., “about,” “approximately,” “basically,” etc.) used in conjunction with quantities or conditions are to include the values ​​and have the meaning indicated by the context. For example, such relative terms include at least the degree of error associated with the measurement of a particular value, tolerances associated with the particular value due to manufacturing, assembly, use, etc. Such terms should also be considered as disclosing a range defined by the absolute values ​​of the two endpoints. Relative terms may refer to a certain percentage (e.g., 1%, 5%, 10% or more) of the indicated value. Numerical values ​​that do not use relative terms should also be disclosed as specific values ​​with tolerances. Furthermore, “basically” when expressing relative angular relationships (e.g., substantially parallel, substantially perpendicular) may refer to a certain degree (e.g., 1 degree, 5 degrees, 10 degrees or more) added to or subtracted from the indicated angle.

[0042] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0043] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0044] Combination Figures 1 to 8As shown, this embodiment provides a head rotation module disposed within the head housing 10. This head rotation module can reduce the range of rotation of the rotating component 210 around the axis of the support component 100 during power outages or transportation, thereby improving the reliability of the humanoid robot. Specifically, the head rotation module includes a support component 100 and a head power structure. The support component 100 includes a head motor mounting base 110 and a damping element 120. The upper end of the head motor mounting base 110 is provided with a mounting cylinder 111, and the damping element 120 is disposed in the mounting cylinder 111. The head power mechanism 200 includes a rotating component 210 and a power component 220. The rotating component 210 is disposed in the mounting cylinder 111 and abuts against the damping element 120. The power component 220 is disposed on the rotating component 210 to drive the rotating component 210 to rotate around its own axis, and the rotating component 210 is connected to the head housing 10 in a transmission manner.

[0045] Combination Figures 1 to 3 As shown, since the damping element 120 is disposed on the mounting cylinder 111, and the rotating component 210 is disposed on the mounting cylinder 111 and abuts against the damping element 120, the rotating component 210 is connected to the head housing 10 in a transmission manner. Therefore, during power failure or transportation, when the power component 220 provides power to the rotating component 210 to drive the rotating component 210 to rotate around its own axis, the rotating component 210 abuts against the damping element 120 to increase the friction between the rotating component 210 and the mounting cylinder 111, thereby reducing the range of rotation of the head power mechanism 200 around the axis of the support component 100 during power failure or transportation, and further reducing the range of rotation of the head housing 10 around the axis of the support component 100. In this way, the risk of collision, displacement or wire detachment of precision components such as sensors, circuit boards, and drive motors inside the head housing 10 is reduced, ensuring their service life while reducing the risk of start-up failure, thereby improving the reliability of the head rotating module and the humanoid robot.

[0046] Furthermore, combining Figure 3 As shown, the damping member 120 is provided with a clearance area 121. Corresponding to the clearance area 121, the damping member 120 is provided with an abutment protrusion 122 on the side near the rotating assembly 210, which abuts against the rotating assembly 210. In this embodiment, the damping member 120 is configured as an elastic member with a low coefficient of friction. With this configuration, when the rotating assembly 210 is placed on the mounting cylinder 111, the abutment protrusion 122 is compressed towards the clearance area 121 under the squeezing force of the rotating assembly 210, thereby reducing the installation difficulty of the rotating assembly 210 on the mounting cylinder 111; after the rotating assembly 210 is placed on the mounting cylinder 111, the abutment protrusion 122 rebounds on its own and abuts against the rotating assembly 210, thereby reducing the range of rotation of the head housing 10 around the axis of the support assembly 100 during power failure or transportation.

[0047] The material of the damping component 120 can be adapted to actual needs, such as PTFE-based composite material, thermoplastic polyester elastomer, high-performance polyurethane elastomer, lubricating polymer composite resin, etc., and this embodiment does not make specific limitations.

[0048] Furthermore, along the circumference of the rotating assembly 210, the two sides of the abutment protrusion 122 are smoothly transitioned to the damping member 120. This arrangement avoids stress concentration between the two sides of the abutment protrusion 122 and the damping member 120, thereby improving the quality and durability of the damping member 120 and extending its service life.

[0049] Preferably, two abutting protrusions 122 are provided in the corresponding avoidance area 121. The two abutting protrusions 122 protrude outward in opposite directions and abut against the mounting cylinder 111 and the rotating assembly 210, respectively.

[0050] Combination Figure 3 As shown, with this configuration, when the rotating assembly 210 is placed on the mounting cylinder 111, both opposing abutment protrusions 122 are compressed towards the clearance area 121 under the compressive force of the rotating assembly 210. This ensures both the interference fit between the damping component 120 and the mounting cylinder 111, and the effective contact between the damping component 120 and the rotating assembly 210, while reducing the compression of each abutment protrusion 122 during installation, i.e., reducing the deformation of each abutment protrusion 122. This further enhances the durability of the damping component 120 and extends its service life.

[0051] To further reduce the range of rotation of the head housing 10 around the axis of the support assembly 100 during power outages or transportation, in this embodiment, the damping member 120 extends in a ring shape along the circumference of the mounting cylinder 111, and is sleeved on the mounting cylinder 111. Furthermore, to ensure that the damping effect of the rotating assembly 210 and the mounting cylinder 111 is uniform throughout the circumference of the mounting cylinder 111, in this embodiment, multiple clearance areas 121 are evenly spaced along the circumference of the damping member 120, and the abutment protrusion 122 corresponds one-to-one with each of the multiple clearance areas 121.

[0052] In the illustration of this embodiment, eight clearance areas 121 are evenly spaced on the damping member 120 as an example. In other embodiments, the specific number of clearance areas 121 can be increased or decreased according to actual needs, and is not limited to the illustration of this embodiment.

[0053] In other embodiments, multiple damping elements 120 may be provided at intervals along the vertical direction in the mounting cylinder 111, not limited to the one shown in this embodiment.

[0054] Preferably, the rotating assembly 210 includes a motor housing bracket 211 and a first bearing 212. The power assembly 220 is disposed inside the motor housing bracket 211 and fixed to the mounting cylinder 111. The lower end of the motor housing bracket 211 is sleeved on the mounting cylinder 111. The first bearing 212 is disposed between the power assembly 220 and the inner wall of the motor housing bracket 211.

[0055] Combination Figure 1 As shown, in this embodiment, the power assembly 220 is configured as a rotor assembly, and the rotating assembly 210 further includes a second bearing 213, a stator module 214, and a head adapter 215. The stator module 214 is cylindrically disposed between the motor housing support 211 and the rotor assembly. The first bearing 212 and the second bearing 213 are both disposed between the rotor assembly and the inner wall of the motor housing support 211. The first bearing 212 is located below the stator module 214, and the second bearing 213 is located above the stator module 214. The head adapter 215 is connected to the motor housing support 211 and fixedly connected to the head housing 10. When the head housing 10 needs to rotate, the stator module 214 is energized and generates a driving magnetic field. Since the rotor assembly is fixed to the mounting cylinder 111 in this embodiment, the stator module 214 rotates around the rotor assembly under the action of the driving magnetic field. With the cooperation of the first bearing 212 and the second bearing 213, the stator module 214 drives the motor housing bracket 211 and the head adapter 215 to rotate, thereby realizing the rotation of the head housing 10. In other embodiments, the head housing 10 can also be directly connected to the motor housing bracket 211.

[0056] Furthermore, the outer wall of the mounting cylinder 111 is provided with a receiving groove. The receiving groove, the first bearing 212, and the motor housing bracket 211 cooperate to form a limiting space for restricting the relative position of the damping element 120. By setting the limiting space, after the head rotation module is assembled, the damping element 120 is located in the limiting space and abuts against the mounting cylinder 111 and the motor housing bracket 211. This improves the installation stability of the damping element 120 and prevents the damping element 120 from detaching from the mounting cylinder 111 during the rotation of the motor housing bracket 211 relative to the mounting cylinder 111 by the rotor assembly.

[0057] Furthermore, along the circumference of the power assembly 220, two limiting baffles 221 are spaced apart at the upper end of the power assembly 220. The head power mechanism 200 also includes a rotation limiting assembly 230, which is fixed to the upper end of the motor housing bracket 211 and located between the two limiting baffles 221. Both limiting baffles 221 are used to limit the rotation angle of the head housing 10 by engaging with the rotation limiting assembly 230.

[0058] Combination Figures 4 to 6As shown, during the rotation of the head housing 10, since the rotor assembly remains stationary, the stator module 214 drives the motor housing bracket 211 to rotate around the rotor assembly. Therefore, through the dynamic limit component and the two limit baffles 221, the rotation angle of the motor housing bracket 211 when rotating around the rotor assembly can be limited, thereby limiting the rotation angle of the head housing 10 and avoiding the situation where the installation stability of the internal components and the stability of the wiring connection of the head housing 10 are affected due to the excessive rotation angle of the head housing 10.

[0059] To enhance the installation strength and stability of the rotation limiting component 230, thereby improving the limiting effect on the rotation angle of the head housing 10, in this embodiment, a fixing plate 216 is fixedly provided at the upper end of the motor housing bracket 211, and the rotation limiting component 230 is fixedly connected to the fixing plate 216 to increase the installation area of ​​the rotation limiting component 230. The specific structure of the rotation limiting component 230 is not the focus of this solution; as long as it achieves the technical objective of limiting the rotation angle of the head housing 10 by cooperating with the two limiting baffles 221, this embodiment does not impose specific limitations on the structure of the rotation limiting component 230.

[0060] Combination Figure 6 As shown, in order to ensure that the head housing 10 rotates to the same angle on both sides when rotating, in this embodiment, the two limiting baffles 221 are symmetrically arranged about the axis of the mounting cylinder 111.

[0061] In this embodiment, both limiting baffles 221 are arranged to extend radially along the rotor assembly, and the included angle α between each limiting baffle 221 and the side of the rotation limiting assembly 230 near the power assembly 220 is set to 40°, thus ensuring that the rotation angle of both sides of the head housing 10 is 40°.

[0062] In other embodiments, depending on actual needs, the included angle α between each limiting baffle 221 and the side of the rotation limiting component 230 closest to the power component 220 can also be set to different angles, such as 40° on one side and 30° on the other side, not limited to this embodiment.

[0063] Furthermore, each of the two limiting baffles 221 is provided with a first buffer portion (not shown in the figure) on the side near the rotation limiting component 230. This arrangement allows the first buffer portion to buffer the contact force between the rotation limiting component 230 and the corresponding limiting baffle 221 when the head housing 10 rotates, preventing structural damage or noise caused by rigid contact between the two components. Alternatively, a second buffer portion is provided on the side of the rotation limiting component 230 near the power component 220; or a smooth contact surface is provided on the end face of the rotation limiting component 230 near the power component 220. The first buffer portion, the second buffer portion, and the smooth contact surface can be chosen individually or simultaneously; this embodiment does not impose a specific limitation.

[0064] The materials of the first and second buffer parts can be adapted to actual needs, such as polyurethane foam, polyethylene foam, rubber, silicone, etc., and this embodiment does not make specific limitations.

[0065] This embodiment also provides a humanoid robot, in which the head rotation module is connected to the torso of the humanoid robot via a head support frame 130. Since the humanoid robot includes all the structures of the head rotation module, it has all the technical advantages of the head rotation module, which will not be elaborated here.

[0066] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A head rotation module, disposed within a head housing (10), characterized in that, include: The support assembly (100) includes a head motor mounting base (110) and a damping element (120). The head motor mounting base (110) has an upper end with a mounting cylinder (111), and the damping element (120) is disposed on the mounting cylinder (111). The head power mechanism (200) includes a rotating component (210) and a power component (220). The rotating component (210) is located on the mounting cylinder (111) and abuts against the damping component (120). The power component (220) is located on the rotating component (210) to drive the rotating component (210) to rotate around its own axis. The rotating component (210) is also connected to the head housing (10) in a transmission manner.

2. The head rotation module according to claim 1, characterized in that, The damping member (120) is provided with a clearance area (121). Corresponding to the clearance area (121), the damping member (120) is provided with an abutment protrusion (122) on the side near the rotating assembly (210) that abuts against the rotating assembly (210).

3. The head rotation module according to claim 2, characterized in that, Along the circumference of the rotating assembly (210), the two sides of the abutment protrusion (122) are smoothly transitioned to the damping member (120).

4. The head rotation module according to claim 2, characterized in that, Two abutting protrusions (122) are provided corresponding to the avoidance area (121). The two abutting protrusions (122) protrude outward in opposite directions and abut against the mounting cylinder (111) and the rotating assembly (210) respectively.

5. The head rotation module according to claim 2, characterized in that, The damping element (120) extends in a ring shape along the circumference of the mounting cylinder (111), and the damping element (120) is sleeved on the mounting cylinder (111). Along the circumference of the damping member (120), a plurality of clearance areas (121) are evenly spaced on the damping member (120), and the abutment protrusion (122) is provided in a one-to-one correspondence with the plurality of clearance areas (121).

6. The head rotation module according to claim 5, characterized in that, The rotating assembly (210) includes a motor housing bracket (211) and a first bearing (212). The power assembly (220) is disposed inside the motor housing bracket (211) and fixed to the mounting cylinder (111). The lower end of the motor housing bracket (211) is sleeved on the mounting cylinder (111). The first bearing (212) is disposed between the power assembly (220) and the inner wall of the motor housing bracket (211). The outer wall of the mounting cylinder (111) is provided with a receiving groove, and the receiving groove, the first bearing (212) and the motor housing bracket (211) cooperate to form a limiting space for restricting the relative position of the damping element (120).

7. The head rotation module according to claim 6, characterized in that, Along the circumference of the power assembly (220), two limiting baffles (221) are provided at intervals on the upper end of the power assembly (220). The head power mechanism (200) also includes a rotation limiting assembly (230). The rotation limiting assembly (230) is fixed to the upper end of the motor housing bracket (211) and located between the two limiting baffles (221). Both limiting baffles (221) are used to limit the rotation angle of the head housing (10) by engaging with the rotation limiting assembly (230).

8. The head rotation module according to claim 7, characterized in that, The two limiting baffles (221) are symmetrically arranged about the axis of the mounting cylinder (111).

9. The head rotation module according to claim 8, characterized in that, Both of the limiting baffles (221) are provided with a first buffer part on the side near the rotation limiting assembly (230); And / or, the rotation limiting assembly (230) is provided with a second buffer portion on the side near the power assembly (220); And / or, the rotation limiting component (230) has a smooth abutment surface on the end face near the power component (220).

10. A humanoid robot, characterized in that, Includes the head rotation module as described in any one of claims 1-9.

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