Neck device and humanoid robot

Abstract

The utility model relates to robot technical field, concretely relates to a neck device and humanoid robot, include: swivel support, installation support, drive assembly and transmission assembly, wherein, the swivel support under the drive of first drive mechanism, drive head structure realizes at least one motion among lifting head, bowing, left swing, right swing, head connecting rod under the drive of second drive mechanism, drive head structure realizes turning head, the utility model drives the synchronous or asynchronous motion of first connecting rod and second connecting rod through first motor and second motor, realizes the lifting head, bowing and left and right swing of head structure, through the third motor through universal joint drive head connecting rod rotation, realizes the turning head action of head structure, makes the head action of humanoid robot more rich and natural.

Description

Technical Field

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

[0002] Humanoid robots are robots that mimic human appearance and behavior, and their head movement system is a crucial component for human-robot interaction. The naturalness and flexibility of head movements directly affect the interactive experience and biomimetic effect of humanoid robots.

[0003] In existing technologies, the neck devices of humanoid robots typically use direct-drive motors or linkage mechanisms to achieve head movement. Some existing neck devices use two motors in conjunction with linkage mechanisms to achieve head movements such as tilting, lowering, and lateral swaying. However, these existing neck devices generally suffer from insufficient degrees of freedom of movement, typically only enabling pitch and lateral head movements, and failing to achieve head rotation around the vertical axis. This results in a limited range of head movement for the humanoid robot, poor biomimicry, and difficulty in meeting the needs of natural human-robot interaction. Utility Model Content

[0004] The purpose of this invention is to provide a neck device and a humanoid robot that can solve or at least alleviate one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] To achieve the aforementioned objectives, one aspect of the present invention provides a neck device, comprising: A rotating support is provided for placing the head structure of a humanoid robot, and the head structure is rotatably connected to the rotating support via a head connecting rod. Mounting support, the mounting support being used to support the rotating support; A drive assembly, the drive assembly including a first drive mechanism and a second drive mechanism; The transmission assembly includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism is used to transmit the driving force generated by the first drive mechanism to the rotating support; the second transmission mechanism is used to transmit the driving force generated by the second drive mechanism to the head connecting rod. The rotating support, driven by the first driving mechanism, causes the head structure to perform at least one of the following movements: raising the head, lowering the head, swinging left, and swinging right; the head connecting rod, driven by the second driving mechanism, causes the head structure to rotate.

[0006] In the neck device as described above, the mounting support includes a mounting plate, a first support member and a second support member, and an annular cross shaft is rotatably provided between the first support member and the second support member; The rotating support is U-shaped and includes a top plate and a first side plate and a second side plate disposed on both sides of the top plate. The annular cross shaft is rotatably disposed between the first side plate and the second side plate.

[0007] In the neck device as described above, a pivot is provided on the outer side wall of the first side plate, and a first fisheye bearing and a second fisheye bearing are respectively provided on both sides of the pivot. The first drive mechanism includes a first motor and a second motor. The output end of the first motor is connected to a first rotating arm, and a third fisheye bearing is provided on the first rotating arm. The output end of the second motor is connected to a second rotating arm, and a fourth fisheye bearing is provided on the second rotating arm. The first transmission mechanism includes a first connecting rod and a second connecting rod. The first connecting rod has a first bearing mounting seat and a third bearing mounting seat at both ends. The first bearing mounting seat contains the first fisheye bearing, and the third bearing mounting seat contains the third fisheye bearing. The second connecting rod has a second bearing mounting seat and a fourth bearing mounting seat at both ends. The second bearing mounting seat contains the second fisheye bearing, and the fourth bearing mounting seat contains the fourth fisheye bearing.

[0008] In the neck device as described above, the axial direction of the first bearing mount is perpendicular to the axial direction of the third bearing mount; the axial direction of the second bearing mount is perpendicular to the axial direction of the fourth bearing mount.

[0009] In the neck device as described above, the second drive mechanism includes a third motor, which is connected to the head connecting rod via the second transmission mechanism.

[0010] In the neck device described above, the upper surface of the rotating support is provided with a two-stage stepped platform structure. The platform structure includes a lower stepped platform and an upper stepped platform that are connected to each other. The rotating support has a through hole at the lower stepped platform and a bearing is provided at the lower stepped platform. The head connecting rod is rotatably connected to the rotating support through the bearing.

[0011] In the neck device as described above, a pressure cap is provided at the upper stepped platform.

[0012] In the neck device described above, the second transmission mechanism is a universal joint, the rotation center of the universal joint coincides with the rotation center of the annular cross shaft, the universal joint includes a first universal joint fork, a cross shaft body and a second universal joint fork connected in sequence, the first universal joint fork is connected to the head connecting rod and the second universal joint fork is connected to the output shaft of the third motor.

[0013] In the neck device as described above, the first support and the second support are mounted on the upper end of the third motor.

[0014] According to another aspect of the present invention, a humanoid robot is also provided, comprising a body and a neck device as described in any of the preceding claims; the neck device is mounted on the body.

[0015] Compared with the prior art, the beneficial effects of this utility model are: by driving the first and second connecting rods synchronously or asynchronously through the first and second motors, the head structure can be raised, lowered, and swayed left and right; by driving the head connecting rods to rotate through the third motor via the universal joint, the head structure can be turned, making the head movements of the humanoid robot more varied and natural. Attached Figure Description

[0016] Figure 1 This is a front view of the neck device of this utility model; Figure 2 This is a perspective view of the neck device of this utility model; Figure 3 This is a perspective view of the neck device of this utility model from another angle. Figure 4 This is an exploded view of the rotating support in the neck device of this utility model.

[0017] In the diagram: 1. Rotary support; 11. Top plate; 12. First side plate; 13. Second side plate; 14. Rotating shaft; 15. First fisheye bearing; 16. Second fisheye bearing; 17. Head connecting rod; 18. Upper stepped platform; 19. Lower stepped platform; 110. Pressure cap; 2. Mounting support; 21. Mounting plate; 22. First support member; 23. Second support member; 24. Annular cross shaft; 31. First motor; 311. First rotating arm; 312. Third fisheye bearing; 32. Second motor; 321. Second rotating arm; 322. Fourth fisheye bearing; 33. Third motor; 41. First connecting rod; 42. Second connecting rod; 43. First universal joint fork; 44. Cross shaft body; 45. Second universal joint fork; 46. First bearing mounting seat; 47. Second bearing mounting seat; 48. Third bearing mounting seat; 49. Fourth bearing mounting seat. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] It should be noted that in the description of this utility model, the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. The terms "first," "second," and similar words used in the description of this utility model do not indicate any order, quantity, or importance, but are only used to distinguish different components, and therefore should not be construed as limiting this utility model.

[0020] Furthermore, it should be understood that, for ease of description, the dimensions of the various components shown in the accompanying drawings are not drawn to actual scale; for example, the thickness or width of some layers may be exaggerated relative to other layers.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined or described in one figure, it will not need to be discussed or described in detail in the description of the subsequent figures.

[0022] See Figures 1-4 According to one aspect of the present invention, a neck device is provided, comprising: a rotating support 1, a mounting support 2, a drive assembly, and a transmission assembly.

[0023] The mounting bracket 2 includes a mounting plate 21, a first support member 22, and a second support member 23. The mounting plate 21 is positioned at the chest of the humanoid robot, and the first support member 22 and the second support member 23 are symmetrically arranged on the upper surface of the mounting plate 21.

[0024] An annular cross shaft 24 is rotatably disposed between the first support member 22 and the second support member 23. The annular cross shaft 24 has two sets of pins that are perpendicular to each other. The two ends of the first set of pins are rotatably connected to the first support member 22 and the second support member 23, respectively. The rotating support 1 is U-shaped and includes a top plate 11 and a first side plate 12 and a second side plate 13 disposed on both sides of the top plate 11. The second set of pins of the annular cross shaft 24 is rotatably connected to the first side plate 12 and the second side plate 13 of the rotating support 1, so that the rotating support 1 can rotate relative to the mounting support 2 around the second set of pins of the annular cross shaft 24.

[0025] The upper surface of the rotating support 1 is provided with a two-tiered stepped platform structure, including a lower stepped platform 19 and an upper stepped platform 18 connected to each other. A through hole is provided in the lower stepped platform 19, and a bearing is installed there. The head connecting rod 17 passes through this through hole and is rotatably connected to the rotating support 1 via the bearing, allowing the head connecting rod 17 to rotate freely relative to the rotating support 1. A pressure cap 110 is provided in the upper stepped platform 18, which axially limits the bearing to prevent vertical displacement of the head connecting rod 17, ensuring the stability and reliability of rotation. The upper end of the head connecting rod 17 is fixedly connected to the head structure of the humanoid robot. A rotating shaft 14 is provided on the outer wall of the first side plate 12, and a first fisheye bearing 15 and a second fisheye bearing 16 are respectively provided on both sides of the rotating shaft 14.

[0026] In this embodiment, the driving component includes a first driving mechanism and a second driving mechanism.

[0027] The first drive mechanism includes a first motor 31 and a second motor 32, which are symmetrically arranged at the chest structure of the humanoid robot. The output end of the first motor 31 is connected to the first rotating arm 311, and a third fisheye bearing 312 is provided on the first rotating arm 311. The output end of the second motor 32 is connected to the second rotating arm 321, and a fourth fisheye bearing 322 is provided on the second rotating arm 321.

[0028] The second drive mechanism includes a third motor 33, which is mounted on the mounting plate 21.

[0029] In another alternative embodiment, the first support member 22 and the second support member 23 may not be disposed on the upper end surface of the mounting plate 21. Instead, the first support member 22 and the second support member 23 may be mounted on the upper end of the third motor 33. The third motor 33 serves not only as a driving element but also as the structural support foundation for the first support member 22 and the second support member 23. The output shaft of the third motor 33 is connected to the head connecting rod 17 via a universal joint.

[0030] The transmission assembly includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism includes a first connecting rod 41 and a second connecting rod 42. The first connecting rod 41 has a first bearing mounting seat 46 and a third bearing mounting seat 48 at both ends. The axial direction of the first bearing mounting seat 46 is perpendicular to the axial direction of the third bearing mounting seat 48. A first fisheye bearing 15 is installed in the first bearing mounting seat 46, and a third fisheye bearing 312 is installed in the third bearing mounting seat 48. The second connecting rod 42 has a second bearing mounting seat 47 and a fourth bearing mounting seat 49 at both ends. The axial direction of the second bearing mounting seat 47 is perpendicular to the axial direction of the fourth bearing mounting seat 49. A second fisheye bearing 16 is installed in the second bearing mounting seat 47, and a fourth fisheye bearing 322 is installed in the fourth bearing mounting seat 49.

[0031] The second transmission mechanism includes a universal joint, which transmits the driving force generated by the third motor 33 to the head connecting rod 17, such as... Figure 4 As shown, the universal joint includes a first universal joint fork 43, a cross shaft body 44, and a second universal joint fork 45 connected in sequence. The first universal joint fork 43 is connected to the lower end of the head connecting rod 17, and the second universal joint fork 45 is connected to the output shaft of the third motor 33. The annular cross shaft 24, the first universal joint fork 43, the cross shaft body 44, the second universal joint fork 45, and the output shaft of the third motor 33 are all on the same vertical axis, forming a strictly vertical coaxial arrangement. Furthermore, the rotation center of the universal joint coincides with the rotation center of the annular cross shaft 24. When the rotating support 1 swings around the annular cross shaft 24, the motion of the lower end of the head connecting rod 17 relative to the cross shaft body 44 is an angular deflection. The universal joint can compensate for this angular deflection, realizing reliable head rotation transmission under any head posture.

[0032] The specific action process will be described accordingly: The first motor 31 drives the first rotating arm 311 to rotate, and the first rotating arm 311 drives the first connecting rod 41 to move upward. Simultaneously, the second motor 32 drives the second rotating arm 321 to rotate, and the second rotating arm 321 drives the second connecting rod 42 to move upward. Under the synchronous drive of the first connecting rod 41 and the second connecting rod 42, the rotating support 1 rotates backward around the pin axis in the left-right direction of the annular cross shaft 24, thereby realizing the head-raising action of the head structure.

[0033] The first motor 31 drives the first rotating arm 311 to rotate, and the first rotating arm 311 drives the first connecting rod 41 to move downward. Simultaneously, the second motor 32 drives the second rotating arm 321 to rotate, and the second rotating arm 321 drives the second connecting rod 42 to move downward. Under the synchronous drive of the first connecting rod 41 and the second connecting rod 42, the rotating support 1 rotates forward around the left-right pin axis of the annular cross shaft 24, thereby realizing the head-lowering action of the head structure.

[0034] The first motor 31 drives the first rotating arm 311 to rotate, and the first rotating arm 311 drives the first connecting rod 41 to move upward. Simultaneously, the second motor 32 drives the second rotating arm 321 to rotate, and the second rotating arm 321 drives the second connecting rod 42 to move downward; or, the first rotating arm 311 drives the first connecting rod 41 to move downward, and the second rotating arm 321 drives the second connecting rod 42 to move upward, with the first connecting rod 41 and the second connecting rod 42 producing asynchronous actions. Under the asynchronous drive of the first connecting rod 41 and the second connecting rod 42, the rotating support 1 rotates around the front-rear pin of the annular cross shaft 24, thereby realizing the left or right swing of the head structure.

[0035] The third motor 33 drives its output shaft to rotate, and transmits torque sequentially through the second universal joint fork 45, the cross shaft body 44, and the first universal joint fork 43 to the head connecting rod 17 via a universal joint. The head connecting rod 17 rotates relative to the rotating support 1 around the vertical axis through the bearing at the lower stepped platform 19, thereby driving the head structure to achieve left or right head turning. Due to the universal joint, even if the rotating support 1 deflects due to tilting, lowering, or left and right swinging, the third motor 33 can still reliably transmit the driving force to the head connecting rod 17, ensuring that the head turning action can be performed normally in any head posture.

[0036] According to another aspect of the present invention, a humanoid robot is also provided, comprising a body and a neck device as described in any of the above claims; the neck device is mounted on the body.

[0037] In conjunction with the above embodiments of this utility model, the first motor 31 and the second motor 32 drive the first connecting rod 41 and the second connecting rod 42 to move synchronously or asynchronously, thereby realizing the head structure's head-raising, head-lowering, and left-right swaying movements; the third motor 33 drives the head connecting rod 17 to rotate via a universal joint, thereby realizing the head structure's head-turning movements, making the humanoid robot's head movements more varied and natural.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A neck device, said neck device being disposed on a humanoid robot, characterized in that, include: Rotary support (1), the rotary support (1) is used to place the head structure of the humanoid robot, the head structure is rotatably connected to the rotary support (1) through a head connecting rod (17); Mounting support (2), the mounting support (2) is used to support the rotating support (1); A drive assembly, the drive assembly including a first drive mechanism and a second drive mechanism; The transmission assembly includes a first transmission mechanism and a second transmission mechanism. The first transmission mechanism is used to transmit the driving force generated by the first drive mechanism to the rotating support (1); the second transmission mechanism is used to transmit the driving force generated by the second drive mechanism to the head connecting rod (17). The rotating support (1) drives the head structure to achieve at least one of the following movements: head up, head down, left swing, and right swing, under the drive of the first driving mechanism; the head connecting rod (17) drives the head structure to rotate under the drive of the second driving mechanism; the mounting support (2) includes a mounting plate (21), a first support member (22), and a second support member (23), and an annular cross shaft (24) is rotatably arranged between the first support member (22) and the second support member (23). The rotating support (1) is U-shaped. The rotating support (1) includes a top plate (11) and a first side plate (12) and a second side plate (13) disposed on both sides of the top plate (11). The annular cross shaft (24) is rotatably disposed between the first side plate (12) and the second side plate (13). The outer side wall of the first side plate (12) is provided with a rotating shaft (14), and a first fish-eye bearing (15) and a second fish-eye bearing (16) are respectively provided on both sides of the rotating shaft (14). The first drive mechanism includes a first motor (31) and a second motor (32). The output end of the first motor (31) is connected to the first rotating arm (311), and a third fisheye bearing (312) is provided on the first rotating arm (311). The output end of the second motor (32) is connected to the second rotating arm (321), and a fourth fisheye bearing (322) is provided on the second rotating arm (321). The first transmission mechanism includes a first connecting rod (41) and a second connecting rod (42). The first connecting rod (41) is provided with a first bearing mounting seat (46) and a third bearing mounting seat (48) at both ends. The first bearing mounting seat (46) is provided with a first fisheye bearing (15), and the third bearing mounting seat (48) is provided with a third fisheye bearing (312). The second connecting rod (42) is provided with a second bearing mounting seat (47) and a fourth bearing mounting seat (49) at both ends. The second bearing mounting seat (47) is provided with a second fisheye bearing (16), and the fourth bearing mounting seat (49) is provided with a fourth fisheye bearing (322).

2. The neck device as claimed in claim 1, characterized in that, The axial direction of the first bearing mounting base (46) is perpendicular to the axial direction of the third bearing mounting base (48); the axial direction of the second bearing mounting base (47) is perpendicular to the axial direction of the fourth bearing mounting base (49).

3. The neck device as claimed in claim 1, characterized in that, The second drive mechanism includes a third motor (33), which is connected to the head connecting rod (17) via the second transmission mechanism.

4. The neck device as claimed in claim 3, characterized in that, The upper surface of the rotating support (1) is provided with a two-stage stepped platform structure. The platform structure includes a lower stepped platform (19) and an upper stepped platform (18) that are connected to each other. The rotating support (1) has a through hole at the lower stepped platform (19). A bearing is provided at the lower stepped platform (19). The head connecting rod (17) is rotatably connected to the rotating support (1) through the bearing.

5. The neck device as claimed in claim 4, characterized in that, A pressure cover (110) is provided at the upper step platform (18).

6. The neck device as claimed in claim 3, characterized in that, The second transmission mechanism is a universal joint, the rotation center of the universal joint coincides with the rotation center of the annular cross shaft (24), the universal joint includes a first universal joint fork (43), a cross shaft body (44) and a second universal joint fork (45) connected in sequence, the first universal joint fork (43) is connected to the head connecting rod (17) and the second universal joint fork (45) is connected to the output shaft of the third motor (33).

7. The neck device as claimed in claim 3, characterized in that, The first support member (22) and the second support member (23) are installed on the upper end of the third motor (33).

8. A humanoid robot, characterized in that, It includes a fuselage and a neck device as described in any one of claims 1-7, the neck device being mounted on the fuselage.

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