Humanoid robot and neck structure thereof

Abstract

The present disclosure relates to a humanoid robot and a neck structure thereof, the neck structure comprising a neck body, a first actuator and a first encoder, wherein a first end of the neck body is configured to be connected with a chest structure of the humanoid robot, a second end of the neck body is configured to be connected with a head structure of the humanoid robot, the first actuator is configured to drive the head structure to move, and the first encoder comprises a first encoder body and a first circuit board, the first encoder body is in transmission connection with the first actuator, and the first circuit board comprises a first board part and a second board part, the first board part is configured to be electrically connected with a robot control unit arranged on the chest structure, the first actuator is electrically connected with the first board part, and the second board part is configured to electrically connect an edge computing platform arranged on the head structure with the robot control unit. The technical scheme of the present disclosure is beneficial to reducing the number of circuit boards at the neck structure, reducing the structural complexity of the neck structure, and assisting the optimization of the bionic design of the neck structure.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more specifically, to a humanoid robot and its neck structure. Background Technology

[0002] The neck structure is a component of humanoid robots, connecting the thoracic cavity and head. In related technologies, the neck structure typically houses a large number of circuit boards, which occupy significant space and are inconvenient to arrange. Therefore, reducing the structural complexity of the neck structure is a pressing issue in the field of robotics, aiming to optimize its biomimetic design. Utility Model Content

[0003] The purpose of this disclosure is to provide a humanoid robot and its neck structure to at least partially overcome the problems existing in the related art.

[0004] To achieve the above objectives, according to a first aspect of this disclosure, a neck structure for a humanoid robot is provided, comprising: The neck body has a first end for connecting to the thoracic cavity structure of the humanoid robot and a second end for connecting to the head structure of the humanoid robot. A first actuator is used to drive the head structure to move; The first encoder includes a first encoder body and a first circuit board. The first encoder body is drivenly connected to the first actuator. The first circuit board includes a first plate portion and a second plate portion. The first plate portion is used to be electrically connected to the robot control unit disposed on the thoracic cavity structure. The first actuator is electrically connected to the first plate portion. The second plate portion is used to electrically connect the edge computing platform disposed on the head structure to the robot control unit.

[0005] Optionally, the first board is provided with a first input interface and a first output interface, the second board is provided with a second input interface and a second output interface, and the first actuator is provided with a third input interface; The first input interface is used for electrical connection with the robot control unit, and the first output interface is electrically connected to the third input interface; The second input interface is used for electrical connection with the robot control unit, and the second output interface is used for electrical connection with the edge computing platform; The standard voltage of the first input interface is different from that of the second input interface, the standard voltage of the first input interface is the same as that of the first output interface, and the standard voltage of the second input interface is the same as that of the second output interface.

[0006] Optionally, the first input interface, the first output interface, and the third input interface are all power and data transmission interfaces; and / or, Both the second input interface and the second output interface are power and data transmission interfaces.

[0007] Optionally, the neck structure further includes a first interface connection structure, which includes a fourth input interface, a fifth input interface, and a fourth output interface. The fourth input interface is a power interface, the fifth input interface is a data transmission interface, and the fourth output interface is both a power and data transmission interface. The fourth and fifth input interfaces are both used for electrical connection to the robot control unit, and the fourth output interface is electrically connected to the first input interface; and / or, The neck structure also includes a second interface connection structure, which includes a sixth input interface, a seventh input interface, and a sixth output interface. The sixth input interface is a power interface, the seventh input interface is a data transmission interface, and the sixth output interface is a power and data transmission interface. The sixth input interface and the seventh input interface are both used for electrical connection with the robot control unit, and the sixth output interface is electrically connected to the second input interface.

[0008] Optionally, the first input interface and the first output interface are located on one side of the neck body, and the second input interface and the second output interface are located on the other side of the neck body.

[0009] Optionally, the orientation of the plug-in terminal of the first input interface is different from the orientation of the plug-in terminal of the first output interface, and the orientation of the plug-in terminal of the second input interface is different from the orientation of the plug-in terminal of the second output interface.

[0010] Optionally, the neck structure further includes a second actuator and a second encoder; The first actuator is located at and connected to the first end of the neck body to drive the neck body to rotate about a first rotation axis. The second actuator is located at the second end of the neck body and is connected to the head structure to drive the head structure to rotate about a second rotation axis. The first rotation axis intersects the second rotation axis. The second encoder includes a second encoder body and a second circuit board. The second encoder body is connected to the second actuator in a driving connection. The first actuator is electrically connected to the second circuit board, and the second actuator is electrically connected to the second circuit board.

[0011] Optionally, the first actuator is provided with a third output interface, the second circuit board is provided with an eighth input interface and an eighth output interface, and the second actuator is provided with a ninth input interface; The third output interface is electrically connected to the eighth input interface, and the eighth output interface is electrically connected to the ninth input interface; The standard voltage of the third output interface, the standard voltage of the eighth input interface, the standard voltage of the eighth output interface, and the standard voltage of the ninth input interface are the same.

[0012] Optionally, the third output interface, the eighth input interface, the eighth output interface, and the ninth input interface are all power and data transmission interfaces.

[0013] According to a second aspect of this disclosure, a humanoid robot is provided, including a head structure, a chest structure, a robot control unit, an edge computing platform, and a neck structure as described above; The first end of the neck body of the neck structure is connected to the thoracic cavity structure, the second end of the neck body is connected to the head structure, the robot control unit is disposed in the thoracic cavity structure, and the edge computing platform is disposed in the head structure; The first board is electrically connected to the robot control unit, and the robot control unit is electrically connected to the edge computing platform through the second board.

[0014] Through the above technical solution, the first circuit board of the first encoder can realize the electrical connection between the robot control unit and the first actuator, and can also be reused to realize the electrical connection between the robot control unit and the edge computing platform. In this way, there is no need to set up separate circuit boards for connecting the edge computing platform and the robot control unit. The electrical connection between the robot control unit, the first actuator and the edge computing platform can be realized by relying on the second board of the first circuit board of the first encoder. This helps to reduce the number of circuit boards set on the neck structure. On the one hand, it facilitates the arrangement of circuit boards on the neck structure with limited size. On the other hand, the fewer circuit boards also reduce the space occupied by the circuit boards in the neck structure, thereby improving the compactness, space utilization and motion flexibility of the neck structure, reducing the structural complexity of the neck structure and facilitating the biomimetic optimization of the neck structure.

[0015] Furthermore, since the robot control unit and the edge computing platform are electrically connected via the second board, when inspection and maintenance of the robot control unit and / or the edge computing platform are required, simply disconnecting the second board achieves physical isolation between the robot control unit and / or the edge computing platform, facilitating disassembly and repair. Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the electrical connections between the robot control unit, edge computing module, actuator, and encoder of a humanoid robot provided in an exemplary embodiment of this disclosure, wherein the dashed lines are used to indicate the electrical connection relationships between the components.

[0017] Figure 2 This is a partial perspective view of a humanoid robot provided in the first exemplary embodiment of this disclosure.

[0018] Figure 3 This is a partial perspective view of a humanoid robot provided in the first exemplary embodiment of this disclosure, and... Figure 2 Different perspectives.

[0019] Figure 4 yes Figure 3 An enlarged schematic diagram of part A in the middle.

[0020] Figure 5 This is a partial perspective view of a humanoid robot provided in the second exemplary embodiment of this disclosure.

[0021] Figure 6 This is a partial perspective view of a humanoid robot provided in the first exemplary embodiment of this disclosure, and... Figure 5 Different perspectives.

[0022] Figure 7 yes Figure 6 An enlarged schematic diagram of part A in the middle.

[0023] Explanation of reference numerals in the attached figures 100-Neck structure; 1-Neck body; 11-First end; 12-Second end; 2-First actuator; 21-Third input interface; 22-Third output interface; 40-First encoder; 3-First encoder body; 4-Second actuator; 41-Ninth input interface; 50-Second encoder; 5-Second encoder body; 6-Head structure; 61-Edge computing platform; 7-First circuit board; 71-First board section; 711-First input interface; 712-First output interface; 72-Second board section; 721-Second input interface; 722-Second output interface; 8-Robot control unit; 10-First interface connection structure; 101-Fourth input interface; 102-Fifth input interface; 103-Fourth output interface; 20-Second interface connection structure; 201-Sixth input interface; 202-Seventh input interface; 203-Sixth output interface; 30-Second circuit board; 301-Eighth input interface; 302-Eighth output interface. Detailed Implementation

[0024] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0025] The terms "upper," "lower," "front," "back," "left," and "right" used in this article are defined according to the "upper," "lower," "front," "back," "left," and "right" positions during normal use of the neck structure. "Inner" and "outer" refer to the inner and outer contours of the corresponding structures.

[0026] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment". Definitions of other terms will be given in the following description.

[0027] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0028] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0029] In the description of this disclosure, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "connect," "link," and "install" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances.

[0030] In related technologies, multiple circuit boards are usually set in the neck structure of humanoid robots to realize electrical connections between multiple different parts of the humanoid robot. However, multiple circuit boards occupy a lot of space in the narrow neck structure, which is inconvenient to arrange. This increases the structural complexity of the neck structure and affects the compactness, space utilization and mobility of the humanoid robot's neck structure, thus restricting the biomimetic optimization of the neck structure.

[0031] In view of this, such as Figures 1 to 7 As shown, according to a first aspect of this disclosure, a neck structure 100 for a humanoid robot is provided, including a neck body 1, a first actuator 2, and a first encoder 40. A first end 11 of the neck body 1 is connected to the thoracic cavity structure of the humanoid robot, and a second end 12 of the neck body 1 is connected to the head structure 6 of the humanoid robot. The first actuator 2 is used to drive the head structure 6 to move. The first encoder 40 includes a first encoder body 3 and a first circuit board 7. The first encoder body 3 is drively connected to the first actuator 2. The first circuit board 7 includes a first plate portion 71 and a second plate portion 72. The first plate portion 71 is electrically connected to a robot control unit 8 disposed on the thoracic cavity structure, the first actuator 2 is electrically connected to the first plate portion 71, and the second plate portion 72 is used to electrically connect an edge computing platform 61 disposed on the head structure 6 to the robot control unit 8.

[0032] It should be noted that the aforementioned robot control unit 8 refers to the part located in the thoracic cavity structure of the humanoid robot, responsible for processing sensor data, executing control algorithms, and issuing commands to drive the various components of the robot to complete predetermined tasks. It mainly includes a central processing unit (CPU), microprocessor (MCU), motion controller, communication module, storage, security module, and power management module. The edge computing platform 61 refers to the hardware components located in the head structure 6 of the humanoid robot, used to provide computing power and storage resources to support real-time data processing and task execution. It may include terminal devices (such as cameras, LiDAR, microphone arrays, etc.), communication modules, and distributed gateways.

[0033] When the aforementioned neck structure 100 is applied to a humanoid robot, the neck body 1 of the neck structure 100 enables the physical connection between the head structure 6 and the chest cavity structure of the humanoid robot. The first actuator 2 can be used to drive the head structure 6 to move, allowing the head structure 6 to have different orientations, thereby meeting the usage requirements of the humanoid robot. The robot control unit 8 is electrically connected to the first actuator 2 through the first board portion 71 of the first circuit board 7, enabling the robot control unit 8 to supply power to and control the first actuator 2, thereby controlling the first actuator 2 to drive the head structure 6 to move according to preset requirements, thus meeting the usage and control requirements of the humanoid robot.

[0034] Through the above technical solution, the first circuit board 7 of the first encoder 40 can realize the electrical connection between the robot control unit 8 and the first actuator 2, and can also be reused to realize the electrical connection between the robot control unit 8 and the edge computing platform 61. In this way, there is no need to set up separate circuit boards for connecting the edge computing platform 61 and the robot control unit 8. The electrical connection between the robot control unit 8, the first actuator 2 and the edge computing platform 61 can be realized by relying on the second board portion 72 of the first circuit board 7 of the first encoder 40. This is beneficial to reduce the number of circuit boards set on the neck structure 100. On the one hand, it is convenient to arrange the circuit boards on the neck structure 100 with limited size. On the other hand, the fewer circuit boards can also reduce the space occupied by the circuit boards at the neck structure 100, thereby improving the compactness, space utilization and motion flexibility of the neck structure 100, reducing the structural complexity of the neck structure 100 and facilitating the biomimetic optimization of the neck structure 100.

[0035] Furthermore, since the robot control unit 8 and the edge computing platform 61 are electrically connected via the second board 72, when inspection and maintenance of the robot control unit 8 and / or the edge computing platform 61 are required, simply disconnecting the second board 72 can achieve physical isolation between the robot control unit 8 and / or the edge computing platform 61, facilitating disassembly, assembly, and maintenance. In the neck structure 100 of the humanoid robot provided in this disclosure, the first encoder 40 can be of any suitable type. For example, the first encoder 40 can be an optical encoder, the first encoder body 3 can include a code disk, and the first circuit board 7 can include a light source and a photodetector disposed on the first board 71. In use, the light emitted by the light source can illuminate the code disk and, after modulation by the code disk, be reflected onto the photodetector, thereby acquiring encoded information.

[0036] Alternatively, the first encoder 40 can also be a magnetic encoder. The first encoder body 3 may include a magnetic component, and the first circuit board 7 may include a magnetic sensor disposed on the first board portion 71. In this way, when the magnetic component moves with the first actuator 2, the magnetic sensor can obtain the encoded information based on the change in the magnetic field generated by the magnetic component.

[0037] The aforementioned first actuator 2 refers to a drive structure capable of driving the head structure 6 to move. In one embodiment, the first actuator 2 can be a rotary motor to drive the head structure 6 to rotate.

[0038] To achieve electrical connection between the robot control unit 8, the edge computing platform 61, and the first actuator 2, optionally, as follows: Figure 1 , Figure 4 and Figure 6 As shown, the first board 71 is provided with a first input interface 711 and a first output interface 712, the second board 72 is provided with a second input interface 721 and a second output interface 722, and the first actuator 2 is provided with a third input interface 21. The first input interface 711 is used to electrically connect to the robot control unit 8, the first output interface 712 is electrically connected to the third input interface 21, the second input interface 721 is used to electrically connect to the robot control unit 8, and the second output interface 722 is used to electrically connect to the edge computing platform 61.

[0039] Thus, the first board 71 can be electrically connected to the robot control unit 8 through the first input interface 711, and the first board 71 can be electrically connected to the first actuator 2 through the first output interface 712 and the third input interface 21, thereby enabling the electrical connection between the robot control unit 8 and the first actuator 2.

[0040] The second input interface 721 enables electrical connection between the second board 72 and the robot control unit 8, and the second output interface 722 enables electrical connection between the second board 72 and the edge computing platform 61, thereby enabling electrical connection between the robot control unit 8 and the edge computing platform 61.

[0041] It should be noted that in the neck structure 100 provided in this disclosure, the first encoder 40 and the first actuator 2 may have the same operating voltage or different operating voltages, and this disclosure does not limit this.

[0042] In one embodiment of this disclosure, the standard voltage of the first input interface 711 is different from the standard voltage of the second input interface 721, the standard voltage of the first input interface 711 is the same as the standard voltage of the first output interface 712, and the standard voltage of the second input interface 721 is the same as the standard voltage of the second output interface 722.

[0043] Since the standard voltage of the first input interface 711 is the same as the standard voltage of the first output interface 712, that is, the voltage flowing into the first board 71 is the same as the voltage flowing out of the first board 71, the first encoder 40 and the first actuator 2 can have the same operating voltage. Thus, there is no need to set a dedicated voltage conversion module in the first circuit board 7 or other locations of the neck structure 100. This helps to simplify the circuit structure and reduce the complexity between the robot's first actuator 2 and the first encoder 40. In addition, it also helps to avoid the situation where the cost and size of the first circuit board 7 would increase due to setting a voltage conversion module on the first circuit board 7, making it inconvenient to arrange on the neck structure 100.

[0044] Furthermore, since the standard voltage of the first input interface 711 is different from that of the second input interface 721, and the standard voltage of the second input interface 721 is the same as that of the second output interface 722, the first circuit board 7 can also meet the different power supply requirements of the edge computing platform 61, the first actuator 2, and the first encoder 40.

[0045] In one embodiment of this disclosure, the standard voltage of the first input interface 711 may be different from the standard voltage of the first output interface 712. A voltage conversion module may be provided on the first board 71 to convert the voltage from the first input interface 711 and transmit it to the first output interface 712. In this embodiment, for example, the standard voltage of the first input interface 711 may be 5V, and the standard voltage of the first output interface 712 may be 48V.

[0046] To reduce the electrical wiring harness between the robot control unit 8 and the first actuator 2 and the first encoder 40, optionally, as follows: Figure 1 As shown, the first input interface 711, the first output interface 712, and the third input interface 21 are all power and data transmission interfaces.

[0047] In this way, there is no need to set up separate power supply and data transmission harnesses between the first plate 71 and the first actuator 2. Power and data transmission between the first plate 71 and the first actuator 2 can be realized by connecting the power and data transmission integrated harnesses connected to the first output interface 712 and the third input interface 21. This helps to reduce the number of harnesses between the first plate 71 and the first actuator 2, thereby reducing the number of harnesses in the neck structure 100. On the one hand, it facilitates the routing of the harnesses in the neck structure 100; on the other hand, the smaller number of harnesses can also reduce the space occupied by the harnesses in the neck structure 100, thereby further improving the compactness, space utilization and movement flexibility of the neck structure 100, and facilitating the biomimetic optimization of the neck structure 100.

[0048] Furthermore, since the first input interface 711 can also be configured as a power and data transmission interface, the first board 71 can also be electrically connected to the robot control unit 8 through a power and transmission integrated wiring harness. This helps to reduce the number of wiring harnesses between the first board 71 and the robot control unit 8, thereby further reducing the number of wiring harnesses in the neck structure 100.

[0049] Optionally, both the second input interface 721 and the second output interface 722 can be power and data transmission interfaces. In this way, separate power supply and data transmission harnesses are not required between the second board 72 and the edge computing platform 61, or between the robot control unit 8 and the second board 72. By using integrated power and data transmission harnesses connecting the second board 72 and the edge computing platform 61, and between the robot control unit 8 and the second board 72, power and data transmission between the second board 72 and the edge computing platform 61, and between the second board 72 and the robot control unit 8, power and data transmission can be simultaneously achieved, thereby further reducing the number of harnesses at the neck structure 100.

[0050] In the neck structure 100 provided in this disclosure, the first input interface 711, the first output interface 712, the second input interface 721, the second output interface 722, and the third input interface 21 can be any suitable interface, and this disclosure does not limit them. In a first embodiment, the first input interface 711, the first output interface 712, the second input interface 721, the second output interface 722, and the third input interface 21 can all be Type-C interfaces.

[0051] In the second embodiment, the first input interface 711, the first output interface 712, the second input interface 721, the second output interface 722, and the third input interface 21 can all be RJ45 interfaces.

[0052] The difference between the first and second embodiments described above lies in the smaller size of the first input interface 711, first output interface 712, second input interface 721, second output interface 722, and third input interface 21, all configured as Type-C interfaces. This reduces the size of the first board 71 and the first actuator 2, facilitating their arrangement within the space-constrained neck structure 100 and improving the compactness and space utilization of the neck structure 100. Furthermore, due to the symmetry of the Type-C interface, there is no need to distinguish the direction during insertion and removal, which improves the convenience of connecting the first input interface 711, first output interface 712, second input interface 721, second output interface 722, and third input interface 21. The first input interface 711, first output interface, second input interface 721, second output interface 722, and third input interface 21, configured as Type-C interfaces, also have a longer service life, are less prone to damage even after numerous insertions and removals, and improve the reliability of power supply and data transmission.

[0053] Furthermore, in some possible implementations, one of the first output interface 712 and the third input interface 21 can be configured as a Type-C male connector, while the other can be configured as a Type-C female connector, so that the first output interface 712 and the third input interface 21 can also be directly plugged in and connected, thereby eliminating the need for a connecting harness between the first output interface 712 and the third input interface 21, which is beneficial to further improve the compactness of the neck structure 100.

[0054] To achieve electrical connection between the first board 71 and the robot control unit 8, optionally, as follows: Figure 1 As shown, the neck structure 100 also includes a first interface connection structure 10, which includes a fourth input interface 101, a fifth input interface 102, and a fourth output interface 103. The fourth input interface 101 is a power interface, the fifth input interface 102 is a data transmission interface, and the fourth output interface 103 is a power and data transmission interface. The fourth input interface 101 and the fifth input interface 102 are both used for electrical connection with the robot control unit 8, and the fourth output interface 103 is electrically connected to the first input interface 711.

[0055] Thus, by connecting the fourth output interface 103 of the first interface connection structure 10 and the first input interface 711 on the first board 71 with an integrated power and data transmission harness, or by directly plugging the fourth output interface 103 and the first input interface 711 together, the power supply and data transmission between the first interface connection structure 10 and the first board 71 can be realized. Furthermore, the power supply and data transmission between the robot control unit 8 and the first interface connection structure 10 can also be realized through the fourth input interface 101 and the fifth input interface 102.

[0056] In other words, the first interface connection structure 10 enables power supply and data transmission between the first board 71 and the robot control unit 8, thereby enabling power supply and data transmission between the first actuator 2 and the robot control unit 8.

[0057] By using the fourth input interface 101, the fifth input interface 102, and the fourth output interface 103 on the first interface connection structure 10, the fourth input interface 101 and the fifth input interface 102 can be adapted to the type and number of interfaces on the robot control unit 8, while reducing the number of wire harnesses between the thoracic structure and the head structure 6 of the humanoid robot. Without changing the structure of the robot control unit 8, the power transmission wire harness and data transmission wire harness connected between the first plate 71 and the first interface connection structure 10 can be integrated through the first interface connection structure 10, thereby reducing the number of wire harnesses at the neck structure 100.

[0058] It should be noted that this disclosure does not limit the specific type of the first interface connection structure 10 mentioned above. For example, the fourth input interface 101 and the fifth input interface 102 can be electrically connected to the fourth output interface 103 through wires or conductive lines.

[0059] To achieve electrical connection between the second board 72 and the robot control unit 8, optionally, as follows: Figure 1 As shown, the neck structure 100 also includes a second interface connection structure 20, which includes a sixth input interface 201, a seventh input interface 202, and a sixth output interface 203. The sixth input interface 201 is a power interface, the seventh input interface 202 is a data transmission interface, and the sixth output interface 203 is a power and data transmission interface. The sixth input interface 201 and the seventh input interface 202 are both used for electrical connection with the robot control unit 8, and the sixth output interface 203 is electrically connected to the second input interface 721.

[0060] Thus, by connecting the power and data transmission integrated harness between the sixth output interface 203 on the second interface connection structure 20 and the second input interface 721 on the second board 72, or by directly plugging the sixth output interface 203 and the second input interface 721 together, the power supply and data transmission between the second interface connection structure 20 and the second board 72 can be realized. Furthermore, the power supply and data transmission between the robot control unit 8 and the second interface connection structure 20 can also be realized through the sixth input interface 201 and the seventh input interface 202.

[0061] In other words, the second interface connection structure 20 enables power supply and data transmission between the first board 71 and the robot control unit 8, thereby enabling power supply and data transmission between the first actuator 2 and the robot control unit 8.

[0062] By providing the sixth input interface 201, the seventh input interface 202, and the sixth output interface 203 on the second interface connection structure 20, the sixth input interface 201 and the seventh input interface 202 can be adapted to the type and number of interfaces on the robot control unit 8 without reducing the number of wire harnesses between the thoracic structure and the head structure 6 of the humanoid robot. The structure of the robot control unit 8 can be changed without changing the structure of the robot control unit 8. The power transmission wire harness and the data transmission wire harness connected between the first plate 71 and the second interface connection structure 20 can be integrated through the second interface connection structure 20, thereby reducing the number of wire harnesses at the neck structure 100.

[0063] It should be noted that this disclosure does not limit the specific type of the second interface connection structure 20. For example, the sixth input interface 201 and the seventh input interface 202 can be electrically connected to the sixth output interface 203 through wires or conductive lines.

[0064] In the neck structure 100 provided in this disclosure, the first input interface 711, the first output interface 712, the second input interface 721, and the second output interface 722 can be arranged in any suitable position, and this disclosure does not limit this.

[0065] As one embodiment of this disclosure, such as Figure 4 and Figure 6 As shown, the first input interface 711 and the first output interface 712 are located on one side of the neck body 1, and the second input interface 721 and the second output interface 722 are located on the other side of the neck body 1.

[0066] By setting the first input interface 711 and the first output interface 712 on the first board body of the first circuit board 7 on one side of the neck body 1, and setting the second input interface 721 and the second output interface 722 on the second board body of the first circuit board 7 on the other side of the neck body 1, the wiring complexity can be reduced, the wire harness can be avoided from getting tangled, and the first circuit board 7 can be easily connected to the robot control unit 8, the first actuator 2 and the edge computing platform 61 respectively.

[0067] To further reduce wiring complexity and avoid wire tangling, alternatively, such as Figure 4 and Figure 6As shown, the orientation of the plug end of the first input interface 711 is different from the orientation of the plug end of the first output interface 712, and the orientation of the plug end of the second input interface 721 is different from the orientation of the plug end of the second output interface 722.

[0068] By giving the plug ends of the first input interface 711 and the first output interface 712 different orientations, and giving the plug ends of the second input interface 721 and the second output interface 722 different orientations, the orientations of the plug ends of the first input interface 711, the first output interface 712, the second input interface 721, and the second output interface 722 can be adapted to the routing direction of the wire harness, which facilitates the plugging of the wire harness and further reduces the complexity of the routing, thus avoiding wire harness tangling.

[0069] In addition, it helps to avoid the situation where the plug-in ends of the first input interface 711 and the first output interface 712, as well as the second input interface 721 and the second output interface 722, are oriented in the same direction, which could easily lead to incorrect wiring.

[0070] To allow the neck structure 100 to have greater degrees of freedom, optionally, such as Figure 1 and Figure 2 As shown, the neck structure 100 also includes a second actuator 4 and a second encoder 50. The first actuator 2 is located at and connected to the first end 11 of the neck body 1, enabling it to drive the neck body 1 to rotate about a first rotation axis. The second actuator 4 is located at the second end 12 of the neck body 1 and is used to connect to the head structure 6, enabling it to drive the head structure 6 to rotate about a second rotation axis, which intersects the first rotation axis. The second encoder 50 includes a second encoder body 5 and a second circuit board 30. The second encoder body 5 is drively connected to the second actuator 4, and the first actuator 2 is electrically connected to the second circuit board 30, as is the second actuator 4.

[0071] The first actuator 2 and the second actuator 4 can drive the head structure 6 of the humanoid robot to rotate around different rotation axes, thereby enabling the head structure 6 to have different orientations and meeting the usage requirements of the humanoid robot.

[0072] For example, in one embodiment, the first actuator 2 can be used to drive the head structure 6 to yaw left and right (i.e. rotate about a second rotation axis extending in the vertical direction), and the second actuator 4 can be used to drive the head structure 6 to pitch (i.e. rotate about a first rotation axis extending in the horizontal direction). In this way, the head structure 6 can achieve pitching up and down and yaw left and right, so as to have a large sensing range and be able to simulate human head movements.

[0073] Furthermore, since the second circuit board 30 is also electrically connected to the second actuator 4, in other words, the second circuit board 30 can cooperate with the second encoder body 5 to monitor the operation of the second actuator 4. The second circuit board 30 can also realize the power supply and data transmission between the first actuator 2 and the second actuator 4. Thus, there is no need to set up an independent data exchange structure (such as a switch circuit board) on the neck structure 100. The electrical connection between the first actuator 2 and the second actuator 4 can be realized through the second circuit board 30. This helps to reduce the number of circuit boards set on the neck structure 100, thereby facilitating the arrangement of circuit boards on the neck structure 100 with limited size. It also helps to further improve the compactness, space utilization and movement flexibility of the neck structure 100, and facilitates the biomimetic optimization of the neck structure 100.

[0074] It should be noted that in the neck structure 100 provided in this disclosure, the second encoder 50 can have any suitable type, such as the optical encoder or magnetic encoder mentioned above, and this disclosure does not limit it.

[0075] To achieve the electrical connection between the first actuator 2 and the second actuator 4, optionally, as follows: Figure 1 As shown, the first actuator 2 is provided with a third output interface 22, the second circuit board 30 is provided with an eighth input interface 301 and an eighth output interface 302, the second actuator 4 is provided with a ninth input interface 41, the third output interface 22 is electrically connected to the eighth input interface 301, and the eighth output interface 302 is electrically connected to the ninth input interface 41.

[0076] Thus, through the third output interface 22, the eighth input interface 301, the eighth output interface 302, and the ninth input interface 41, power and data transmission between the first actuator 2 and the second actuator 4 can be realized.

[0077] It should be noted that in the neck structure 100 provided in this disclosure, the second encoder 50 and the second actuator 4 may have the same operating voltage, or the second encoder 50 and the second actuator 4 may have different operating voltages, and this disclosure does not limit this.

[0078] As one embodiment of this disclosure, the standard voltage of the third output interface 22, the standard voltage of the eighth input interface 301, the standard voltage of the eighth output interface 302, and the standard voltage of the ninth input interface 41 are the same, that is, the second encoder 50 and the second actuator 4 have the same operating voltage.

[0079] Since the second encoder 50 and the second actuator 4 operate at the same voltage, there is no need to set up a dedicated voltage conversion module on the second circuit board 30 or other locations on the neck structure 100 to meet the power supply requirements of the second actuator 4 and the second encoder 50. This helps to simplify the circuit structure and reduce the complexity between the second actuator 4 and the second encoder 50. In addition, it also helps to avoid the situation where the cost and size of the second circuit board 30 are increased due to setting up a voltage conversion module on the second circuit board 30, making it inconvenient to arrange on the neck structure 100.

[0080] To reduce the wiring harness between the first actuator 2 and the second actuator 4, optionally, as follows: Figure 1 As shown, the third output interface 22, the eighth input interface 301, the eighth output interface 302, and the ninth input interface 41 are all power and data transmission interfaces.

[0081] In this way, there is no need to set separate power supply harnesses and data transmission harnesses between the first actuator 2 and the second circuit board 30, and between the second circuit board 30 and the second actuator 4. Power and data transmission between the first actuator 2 and the second actuator 4 can be achieved through integrated power and data transmission harnesses connected between the third output interface 22 and the eighth input interface 301, and between the eighth output interface 302 and the ninth input interface 41. This helps to reduce the number of harnesses between the first actuator 2 and the second actuator 4, thereby reducing the number of harnesses in the neck structure 100. On the one hand, it facilitates the routing of the harnesses in the neck structure 100; on the other hand, the smaller number of harnesses also reduces the space occupied by the harnesses in the neck structure 100, which helps to further improve the compactness, space utilization and movement flexibility of the neck structure 100, and facilitates the biomimetic optimization of the neck structure 100.

[0082] In the neck structure 100 provided in this disclosure, the third output interface 22, the eighth input interface 301, the eighth output interface 302, and the ninth input interface 41 can be any suitable interface, and this disclosure does not limit them. In a first embodiment, the third output interface 22, the eighth input interface 301, the eighth output interface 302, and the ninth input interface 41 can all be Type-C interfaces.

[0083] In the second embodiment, the third output interface 22, the eighth input interface 301, the eighth output interface 302, and the ninth input interface 41 can all be RJ45 interfaces.

[0084] Below, we will use Figure 1 Taking the illustrated embodiment as an example, the electrical connection relationships of each component in the head structure 6, chest structure, and neck structure 100 of the humanoid robot are explained in detail below: Regarding the electrical connections between the robot control unit 8 and the first actuator 2, the first encoder 40, the second actuator 4, and the second encoder 50: The robot control unit 8 is electrically connected to the fourth input interface 101 and the fifth input interface 102 on the first interface connection structure 10. The fourth output interface 103 on the first interface connection structure 10 is electrically connected to the first input interface 711 on the first board portion 71 of the first circuit board 7 of the first encoder 40. The first output interface 712 on the first board portion 71 is electrically connected to the third input interface 21 on the first actuator 2. The third output interface 22 on the first actuator 2 is electrically connected to the eighth input interface 301 on the second circuit board 30 of the second encoder 50. The eighth output interface 302 on the second circuit board 30 is electrically connected to the ninth input interface 41 on the second actuator 4.

[0085] Regarding the electrical connection between the robot control unit 8 and the edge computing platform 61: The robot control unit 8 is electrically connected to the sixth input interface 201 and the seventh input interface 202 on the second interface connection structure 20. The sixth output interface 203 on the second interface connection structure 20 is electrically connected to the second input interface 721 on the second board portion 72 of the first circuit board 7 of the first encoder 40. The second output interface 722 on the second board portion 72 is electrically connected to the edge computing platform 61.

[0086] According to a second aspect of this disclosure, a humanoid robot is provided, including a head structure 6, a chest cavity structure, a robot control unit 8, an edge computing platform 61, and a neck structure 100 as described above. The first end 11 of the neck body 1 of the neck structure 100 is connected to the chest cavity structure, and the second end 12 of the neck body 1 is connected to the head structure 6. The robot control unit 8 is disposed in the chest cavity structure, and the edge computing platform 61 is disposed in the head structure 6. The first plate portion 71 is electrically connected to the robot control unit 8, and the robot control unit 8 is electrically connected to the edge computing platform 61 through the second plate portion 72.

[0087] This humanoid robot possesses all the beneficial effects of the aforementioned neck structure 100, which will not be elaborated upon here.

[0088] The preferred embodiments of this disclosure have been described in detail above with reference to the accompanying drawings. However, this disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of this disclosure, various simple modifications can be made to the technical solutions of this disclosure, and these simple modifications all fall within the protection scope of this disclosure.

[0089] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0090] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A neck structure for a humanoid robot, characterized in that, include: The neck body has a first end for connecting to the thoracic cavity structure of the humanoid robot and a second end for connecting to the head structure of the humanoid robot. A first actuator is used to drive the head structure to move; The first encoder includes a first encoder body and a first circuit board. The first encoder body is drivenly connected to the first actuator. The first circuit board includes a first plate portion and a second plate portion. The first plate portion is used to be electrically connected to the robot control unit disposed on the thoracic cavity structure. The first actuator is electrically connected to the first plate portion. The second plate portion is used to electrically connect the edge computing platform disposed on the head structure to the robot control unit.

2. The neck structure according to claim 1, characterized in that, The first board is provided with a first input interface and a first output interface, the second board is provided with a second input interface and a second output interface, and the first actuator is provided with a third input interface; The first input interface is used for electrical connection with the robot control unit, and the first output interface is electrically connected to the third input interface; The second input interface is used for electrical connection with the robot control unit, and the second output interface is used for electrical connection with the edge computing platform; The standard voltage of the first input interface is different from that of the second input interface, the standard voltage of the first input interface is the same as that of the first output interface, and the standard voltage of the second input interface is the same as that of the second output interface.

3. The neck structure according to claim 2, characterized in that, The first input interface, the first output interface, and the third input interface are all power and data transmission interfaces; and / or, Both the second input interface and the second output interface are power and data transmission interfaces.

4. The neck structure according to claim 3, characterized in that, The neck structure further includes a first interface connection structure, which includes a fourth input interface, a fifth input interface, and a fourth output interface. The fourth input interface is a power interface, the fifth input interface is a data transmission interface, and the fourth output interface is both a power and data transmission interface. The fourth and fifth input interfaces are both used for electrical connection to the robot control unit, and the fourth output interface is electrically connected to the first input interface; and / or... The neck structure also includes a second interface connection structure, which includes a sixth input interface, a seventh input interface, and a sixth output interface. The sixth input interface is a power interface, the seventh input interface is a data transmission interface, and the sixth output interface is a power and data transmission interface. The sixth input interface and the seventh input interface are both used for electrical connection with the robot control unit, and the sixth output interface is electrically connected to the second input interface.

5. The neck structure according to any one of claims 2-4, characterized in that, The first input interface and the first output interface are located on one side of the neck body, and the second input interface and the second output interface are located on the other side of the neck body.

6. The neck structure according to claim 5, characterized in that, The orientation of the plug-in terminal of the first input interface is different from the orientation of the plug-in terminal of the first output interface, and the orientation of the plug-in terminal of the second input interface is different from the orientation of the plug-in terminal of the second output interface.

7. The neck structure according to any one of claims 1-4, characterized in that, The neck structure also includes a second actuator and a second encoder; The first actuator is located at and connected to the first end of the neck body to drive the neck body to rotate about a first rotation axis. The second actuator is located at the second end of the neck body and is connected to the head structure to drive the head structure to rotate about a second rotation axis. The first rotation axis intersects the second rotation axis. The second encoder includes a second encoder body and a second circuit board. The second encoder body is connected to the second actuator in a driving connection. The first actuator is electrically connected to the second circuit board, and the second actuator is electrically connected to the second circuit board.

8. The neck structure according to claim 7, characterized in that, The first actuator is provided with a third output interface, the second circuit board is provided with an eighth input interface and an eighth output interface, and the second actuator is provided with a ninth input interface; The third output interface is electrically connected to the eighth input interface, and the eighth output interface is electrically connected to the ninth input interface; The standard voltage of the third output interface, the standard voltage of the eighth input interface, the standard voltage of the eighth output interface, and the standard voltage of the ninth input interface are the same.

9. The neck structure according to claim 8, characterized in that, The third output interface, the eighth input interface, the eighth output interface, and the ninth input interface are all power and data transmission interfaces.

10. A humanoid robot, characterized in that, It includes a head structure, a chest structure, a robot control unit, an edge computing platform, and a neck structure according to any one of claims 1-9; The first end of the neck body of the neck structure is connected to the thoracic cavity structure, the second end of the neck body is connected to the head structure, the robot control unit is disposed in the thoracic cavity structure, and the edge computing platform is disposed in the head structure; The first board is electrically connected to the robot control unit, and the robot control unit is electrically connected to the edge computing platform through the second board.

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