A robot head and a robot

Abstract

The utility model provides a kind of robot head and robot, comprising: head shell;Telescopic slider, the telescopic slider is fixed in the inside of the head shell, the telescopic slider is cylindrical;Telescopic support, the telescopic support is located below the telescopic slider, the telescopic slider is sleeved in the outer periphery of the telescopic support, the telescopic support and the telescopic slider are connected along vertical direction sliding;Wherein, telescopic adjusting structure is equipped between the telescopic support and the telescopic slider, for unlocking or locking the sliding position of the telescopic slider;The telescopic adjusting structure is arranged in one side of the telescopic slider, and the telescopic adjusting structure includes telescopic part, when locking the sliding position of the telescopic slider, one end of the telescopic part is in contact with the telescopic slider, the other end of the telescopic part is in contact with the telescopic support, compared with prior art, the height of robot head can be adjusted, reduce damage caused in transportation process.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robots, and more particularly to a robot head and a robot. Background Technology

[0002] In related technologies, the robot head is usually fixedly installed on the robot body and has certain functions, but there are still shortcomings. The shortcomings are that the head, as an external protrusion of the robot, is prone to collisions during transportation and packaging, resulting in component damage and wasted space. Utility Model Content

[0003] This utility model discloses a robot head and a robot, the height of which can be adjusted to reduce damage during transportation.

[0004] A robot head includes: a head shell; a telescopic slider fixed to the inner side of the head shell, the telescopic slider being cylindrical; and a telescopic bracket located below the telescopic slider, the telescopic slider being sleeved on the outer periphery of the telescopic bracket, the telescopic bracket and the telescopic slider being slidably connected in a vertical direction; wherein, a telescopic adjustment structure is provided between the telescopic bracket and the telescopic slider for unlocking or locking the sliding position of the telescopic slider; the telescopic adjustment structure is disposed on one side of the telescopic slider, the telescopic adjustment structure including a telescopic part, wherein when the sliding position of the telescopic slider is locked, one end of the telescopic part abuts against the telescopic slider, and the other end of the telescopic part abuts against the telescopic bracket; when the sliding position of the telescopic slider is unlocked, one end of the telescopic part abuts against the telescopic slider, and the other end of the telescopic part is in clearance fit with the telescopic bracket.

[0005] In some embodiments, a camera is also included, which is disposed on one side of the head shell for acquiring external image information.

[0006] In some embodiments, a head pitch servo is provided below the telescopic bracket for driving the robot head to pitch and swing around a horizontal axis. The telescopic bracket is cylindrical and is sleeved on the outer periphery of the head pitch servo. The telescopic bracket is fixedly connected to the head pitch servo, and the output end of the head pitch servo is fixedly connected to the head bracket.

[0007] In some embodiments, a bearing assembly is provided between the head support and the output end of the head pitch servo.

[0008] In some embodiments, the camera is mounted on the front end of the head housing, and the lens direction of the camera is consistent with the pitch direction of the head housing.

[0009] In some embodiments, the outer side of the telescopic bracket is provided with a guide block in the vertical direction, one side of the telescopic slider has a protrusion protruding outward, and the inner side of the protrusion is provided with a guide groove that cooperates with the guide block.

[0010] In some embodiments, the telescopic adjustment structure includes a button and a spring. The button includes an end, a shaft, and an end. The shaft is a telescopic part. The protrusion has a first through hole penetrating through two opposite sides of the protrusion. The center line of the first through hole is perpendicular to the length direction of the guide groove. The first through hole communicates with the guide groove. The button is disposed in the first through hole and is movably connected to the first through hole. The end is fixedly connected to the shaft. The spring is located between the protrusion and the shaft. One end of the spring abuts against the inner side of the protrusion, and the other end abuts against the shaft, for resetting the button. The shaft has a groove that is slidably connected to the guide block. The groove and the guide block are in clearance fit. Under normal conditions, the spring drives the shaft to move axially in the forward direction, so that the wall of the groove abuts against the guide block, thereby locking the telescopic slider and the telescopic bracket. When the button is pressed, the drive shaft moves axially in the reverse direction, so that the wall of the groove does not abut against the guide block, thereby unlocking the telescopic slider and the telescopic bracket.

[0011] In some embodiments, the spring positioning pin includes a movable pin portion, which is a telescopic portion.

[0012] In some embodiments, the housing of the spring locating pin is provided with a pull ring.

[0013] This utility model also provides a robot, including the robot head and body described above, wherein the body includes a head rotation servo motor, and the output end of the head rotation servo motor is fixedly connected to the robot head.

[0014] Beneficial effects: The height of the head shell can be adjusted by unlocking / locking the telescopic adjustment structure to adjust the sliding position of the telescopic slider. Specifically, pressing the telescopic adjustment structure to unlock it before transportation moves the head shell down to its fully retracted state, allowing the telescopic slider to reach the lowest locking position of the telescopic bracket, thus reducing damage to the head shell during transportation. In addition, when locked, the telescopic part abuts against the telescopic slider and the telescopic bracket at both ends to form a rigid constraint, thereby resisting accidental displacement caused by vibration or collision during transportation. The cylindrical telescopic slider is fitted around the outer periphery of the telescopic bracket, enhancing the lateral stability of the head shell in the retracted state and preventing the head from shaking and hitting the inner wall of the packaging. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 yes Figure 1 An explosion diagram; Figure 3 yes Figure 1 A schematic diagram of the head shell extending vertically; Figure 4 This is a cross-sectional schematic diagram of the telescopic slider, telescopic bracket, and telescopic adjustment structure of this utility model; Figure 5 This is an exploded view of the telescopic slider and telescopic adjustment structure of this utility model. Figure 6 This is a structural schematic diagram of the telescopic bracket of this utility model.

[0017] Explanation of main labels: 1. Head shell; 2. Telescopic slider; 21. Protrusion; 211. First through hole; 3. Telescopic bracket; 31. Guide block; 4. Telescopic adjustment structure; 41. Telescopic part; 42. Button; 421. End; 422. Shaft; 4221. Groove; 423. End; 4231. Limiting part; 43. Spring; 5. Camera; 6. Head pitch servo; 7. Head support; 8. Bearing assembly. 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] Furthermore, the following descriptions of various embodiments are based on the accompanying illustrations and are used to illustrate specific embodiments that can be implemented in this application. Directional terms used in this application, such as "up," "down," "front," "back," "left," "right," "inner," "outer," and "side," are merely for reference to the accompanying illustrations. Therefore, the directional terms used are for better and clearer explanation and understanding of this application, and are not intended to indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0020] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installed," "connected," "linked," and "set on" 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 mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0021] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0022] Combination Figures 1 to 3 As shown, a robot head includes: a head shell 1; a telescopic slider 2, which is fixed to the inner side of the head shell 1 and is cylindrical; and a telescopic bracket 3, which is located below the telescopic slider 2, with the telescopic slider 2 sleeved on the outer periphery of the telescopic bracket 3, and the telescopic bracket 3 and the telescopic slider 2 slidably connected in the vertical direction. A telescopic adjustment structure 4 is provided between the telescopic bracket 3 and the telescopic slider 2 for unlocking or locking the sliding position of the telescopic slider 2. The telescopic adjustment structure 4 is located on one side of the telescopic slider 2 and includes a telescopic part 41. When the sliding position of the telescopic slider 2 is locked, one end of the telescopic part 41 abuts against the telescopic slider 2, and the other end of the telescopic part 41 abuts against the telescopic bracket 3. When the sliding position of the telescopic slider 2 is unlocked, one end of the telescopic part 41 abuts against the telescopic slider 2, and the other end of the telescopic part 41 is in clearance fit with the telescopic bracket 3.

[0023] The sliding position of the telescopic slider 2 is adjusted by unlocking / locking the telescopic adjustment structure 4 to adjust the height of the head shell 1. Specifically, pressing the telescopic adjustment structure 4 to unlock it before transport lowers the head shell 1 to its fully retracted state, allowing the telescopic slider 2 to reach the lowest locking position of the telescopic bracket 3, thus reducing damage to the head shell 1 during transport. Additionally, in the locked state, the telescopic part 41 abuts against the telescopic slider 2 and the telescopic bracket 3 at both ends to form a rigid constraint, thereby resisting accidental displacement caused by vibration or collision during transport. The cylindrical telescopic slider 2 is fitted around the outer periphery of the telescopic bracket 3, enhancing the lateral stability of the head shell 1 in the retracted state and preventing the head from shaking and impacting the inner wall of the packaging. Optionally, the telescopic slider 2 has a top surface with a first fixing hole, and the head shell 1 has a top surface with a second fixing hole. The first and second fixing holes are connected and fixed together by screws. Optionally, the lower end of the telescopic slider 2 is open, making it easy to fit around the outer periphery of the telescopic bracket 3.

[0024] Combination Figure 1 and Figure 2 As shown, in some embodiments, a camera 5 is also included, which is disposed on one side of the head shell 1 for acquiring external image information. When the robot is working, the camera 5 acquires real-time image data of the environment in front. The head changes its height through the telescopic adjustment structure 4, thereby increasing the acquisition range of the image data of the camera 5. Optionally, the head shell 1 has a cavity to accommodate the telescopic slider 2, and the front side of the head shell 1 is provided with a first positioning hole. The camera 5 is fixed inside the head shell 1, and its lens extends outward from the first positioning hole.

[0025] Combination Figure 2As shown, in some embodiments, a head pitch servo 6 is provided below the telescopic bracket 3 for driving the robot head to pitch and swing around a horizontal axis. The telescopic bracket 3 is cylindrical and is sleeved on the outer periphery of the head pitch servo 6. The telescopic bracket 3 is fixedly connected to the head pitch servo 6, and a head bracket 7 is fixedly connected to the output end of the head pitch servo 6. Driven by the head pitch servo 6, the head shell 1 tilts around the horizontal axis, and in conjunction with the telescopic height adjustment, the camera 5's field of view covers the vertical range from the ground to the obstacle in front, expanding the vertical field of view and thus increasing the image data acquisition range of the camera 5. The cylindrical telescopic bracket 3, nested around the servo, forms a stable force transmission path, reducing swaying during the robot's head movement and ensuring structural stability. Furthermore, the head pitch servo 6 is positioned below the telescopic bracket 3, resulting in a compact structure and reducing the space occupied inside the head. Optionally, the telescopic bracket 3 and the head pitch servo 6 are connected by screws. Optionally, the telescopic bracket 3 has second positioning holes on both sides, and the head pitch servo 6 has protrusions that mate with the second positioning holes. During installation, the protrusions automatically enter the second positioning holes, achieving rapid pre-positioning, reducing manual adjustment time, and improving installation efficiency. Additionally, the tight fit between the protrusions and the second positioning holes eliminates assembly gaps between components, making the head pitch servo 6 and the telescopic bracket 3 an integral transmission structure, improving overall rigidity.

[0026] Combination Figure 2 As shown, in some embodiments, a bearing assembly 8 is provided between the head support 7 and the output end of the head pitch servo 6. Optionally, the bearing assembly 8 includes a bearing housing and a bearing. The outer ring of the bearing mates with the bearing housing, and the inner ring of the bearing mates with the output end of the head pitch servo 6. Optionally, the outer shell of the bearing housing is circular, and the side of the telescopic slider 2 is provided with a notch. This notch is semi-circular, and the curvature of the semi-circular notch matches the contour of the circular bearing housing. When adjusting the head height, the telescopic slider 2 slides vertically, and the semi-circular notch on the side of the telescopic slider 2 provides space for the circular bearing housing, forming a non-contact fit. This clearance can increase the maximum extension or retraction range of the head housing 1.

[0027] Combination Figure 1 and Figure 2 As shown, in some embodiments, the camera 5 is mounted on the front end of the head shell 1, and the lens direction of the camera 5 is consistent with the pitch direction of the head shell 1. When the head pitch servo 6 drives the robot head to swing around the horizontal axis, the camera 5 fixed to the front end of the head shell 1 pitches synchronously. Since the lens direction is consistent with the swing direction, the vertical scanning range of the camera 5's field of view corresponds linearly to the robot head pitch angle, achieving synchronization with the human perspective and providing accurate visual feedback for robot interaction and navigation.

[0028] Figures 4 to 6 As shown, in some embodiments, the outer side of the telescopic bracket 3 is provided with a guide block 31 in the vertical direction, and one side of the telescopic slider 2 has a protrusion 21 protruding outward. The inner side of the protrusion 21 is provided with a guide groove that cooperates with the guide block 31. Furthermore, the other side of the telescopic slider 2 is provided with a limiting groove, and one side of the telescopic bracket 3 is provided with a limiting screw, which cooperates with the limiting groove. When the robot head is pushed or pulled, the telescopic slider 2 moves along the telescopic bracket 3, and its inner guide groove slides along the guide block 31 on the telescopic bracket 3, ensuring a vertical movement trajectory. When the slider moves to its limit position, the end of the limiting groove contacts the limiting screw, preventing the slider from moving further, thereby mechanically limiting the telescopic stroke.

[0029] Figures 4 to 6As shown, in some embodiments, the telescopic adjustment structure 4 includes a button 42 and a spring 43. The button 42 includes an end 421, a shaft 422, and an end 423. The shaft 422 is a telescopic part 41. The protrusion 21 has a first through hole 211 penetrating through the two opposite sides of the protrusion 21. The center line of the first through hole 211 is perpendicular to the length direction of the guide groove. The first through hole 211 communicates with the guide groove. The button 42 is disposed in the first through hole 211 and is movably connected to the first through hole 211. The end 421 is fixedly connected to the shaft 422. The spring 43 is located between the protrusion 21 and the shaft 422. One end of the spring 43 abuts against the inner surface of the protrusion 21, and the other end abuts against the shaft 422, for resetting the button 42. The shaft 422 has a groove 4221, which is slidably connected to the guide block 31, and the groove 4221 and the guide block 31 are in clearance fit. Normally, the spring 43 drives the shaft 422 to move axially in the forward direction (direction of the shaft towards the end), causing the wall of the groove 4221 to abut against the guide block 31, thus locking the telescopic slider 2 and the telescopic bracket 3. When the button 42 is pressed, the spring 43 drives the shaft 422 to move axially in the reverse direction (direction of the shaft towards the end), preventing the wall of the groove 4221 from contacting the guide block 31, thus unlocking the telescopic slider 2 and the telescopic bracket 3. Specifically, normally, the spring 43 pushes the shaft 422 to remain extended, at which time the wall of the groove 4221 abuts against the side wall of the guide block 31, forming a mechanical interlock and preventing the telescopic slider 2 from moving. When height adjustment is required, pressing the end 421 of button 42 overcomes the force of spring 43, causing shaft 422 to retract, creating a gap between groove 4221 and guide block 31, thus generating an unlocking gap. Telescopic slider 2 can then slide freely along guide block 31. After releasing button 42, spring 43 automatically resets and relocks. Integrating the unlocking mechanism consisting of button and spring 43 onto telescopic slider 2 avoids additional space occupation, resulting in a compact structure and convenient unlocking or locking. Optionally, the end 421 and shaft 422 are an integral structure, with shaft 422 threadedly connected to end 423. Optionally, spring 43 is a compression spring, sleeved on the outer circumference of end 423, and coaxial with end 423. Optionally, the end of the tail 423 away from the shaft 422 is provided with a limiting part 4231. The outer diameter of the limiting part 4231 is larger than the diameter of the first through hole 211. The limiting part 4231 is located outside the protrusion 21 to prevent the tail 423 from falling off towards the head 421.

[0030] In some embodiments, the spring positioning pin includes a movable pin portion, which is a telescopic portion 41. Further, the inner wall surface of the telescopic slider 2 is provided with a second through hole, the spring positioning pin is fixedly connected to the second through hole, and the movable pin portion is slidably connected to the second through hole. Under normal conditions, the spring positioning pin drives the movable pin portion to move forward, causing the movable pin portion to abut against the telescopic bracket 3, thereby locking the telescopic slider 2 and the telescopic bracket 3. When the spring positioning pin is pulled outward, the movable pin portion moves in the opposite direction, preventing it from contacting the telescopic bracket 3, thus unlocking the telescopic slider 2 and the telescopic bracket 3. The structure is simple.

[0031] In some embodiments, the housing of the spring locating pin is provided with a pull ring. The spring locating pin can be easily unlocked by operating the pull ring.

[0032] This invention also provides a robot, including the aforementioned robot head and torso. The torso includes a head rotation servo, the output of which is fixedly connected to the robot head. The head rotation servo drives the robot head to rotate in the horizontal plane, expanding the horizontal scanning range of the camera 5. When the head rotation servo works in conjunction with the head telescopic structure and the pitch servo, a three-dimensional motion combination of lifting, pitching, and rotating is achieved, enabling the robot to flexibly adjust its observation height and angle according to task requirements, completing visual perception and interaction tasks in complex environments.

[0033] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or directly or indirectly used in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1. A robot head, characterized in that, include: Head shell (1); Telescopic slider (2), the telescopic slider (2) is fixed to the inner side of the head shell (1), the telescopic slider (2) is cylindrical; Telescopic bracket (3), the telescopic bracket (3) is located below the telescopic slider (2), the telescopic slider (2) is sleeved on the outer periphery of the telescopic bracket (3), and the telescopic bracket (3) and the telescopic slider (2) are slidably connected in the vertical direction; A telescopic adjustment structure (4) is provided between the telescopic bracket (3) and the telescopic slider (2) for unlocking or locking the sliding position of the telescopic slider (2). The telescopic adjustment structure (4) is located on one side of the telescopic slider (2). The telescopic adjustment structure (4) includes a telescopic part (41). When the sliding position of the telescopic slider (2) is locked, one end of the telescopic part (41) abuts against the telescopic slider (2), and the other end of the telescopic part (41) abuts against the telescopic bracket (3). When the sliding position of the telescopic slider (2) is unlocked, one end of the telescopic part (41) abuts against the telescopic slider (2), and the other end of the telescopic part (41) is in clearance fit with the telescopic bracket (3).

2. The robot head according to claim 1, characterized in that, It also includes a camera (5), which is located on one side of the head shell (1) and is used to collect external image information.

3. A robot head according to claim 2, characterized in that, The telescopic bracket (3) is provided with a head pitch servo (6) below it, which is used to drive the robot head to pitch and swing around the horizontal axis. The telescopic bracket (3) is cylindrical and is sleeved on the outer periphery of the head pitch servo (6). The telescopic bracket (3) is fixedly connected to the head pitch servo (6). The output end of the head pitch servo (6) is fixedly connected to the head bracket (7).

4. A robot head according to claim 3, characterized in that, A bearing assembly (8) is provided between the head support (7) and the output end of the head pitch servo (6).

5. A robot head according to claim 3, characterized in that, The camera (5) is installed at the front end of the head shell (1), and the lens direction of the camera (5) is consistent with the pitch swing direction of the head shell (1).

6. A robot head according to claim 1, characterized in that, The telescopic bracket (3) has a guide block (31) on its outer side along the vertical direction. One side of the telescopic slider (2) has a protrusion (21) protruding outward. The inner side of the protrusion (21) has a guide groove that cooperates with the guide block (31).

7. A robot head according to claim 6, characterized in that, The telescopic adjustment structure (4) includes a button (42) and a spring (43). The button (42) includes an end (421), a shaft (422), and an end (423). The shaft (422) is a telescopic part (41). The protrusion (21) has a first through hole (211) penetrating through the two opposite sides of the protrusion (21). The center line of the first through hole (211) is perpendicular to the length direction of the guide groove. The first through hole (211) communicates with the guide groove. The button (42) is disposed in the first through hole (211) and is movably connected to the first through hole (211). The end (421) is fixedly connected to the shaft (422). The spring (43) is located between the protrusion (21) and the shaft (422). One end of the spring (43) abuts against the inner side of the protrusion (21), and the other end abuts against the shaft (422) for resetting the button (42). The shaft (422) is provided with a groove (4221), which is slidably connected to the guide block (31). The groove (4221) and the guide block (31) are in clearance fit. Under normal conditions, the spring (43) drives the shaft (422) to move in the forward direction along the axial direction, so that the wall of the groove (4221) abuts against the guide block (31), thereby locking the telescopic slider (2) and the telescopic bracket (3). When the button (42) is pressed, the drive shaft (422) moves in the reverse direction along the axial direction, so that the wall of the groove (4221) does not contact the guide block (31), thereby unlocking the telescopic slider (2) and the telescopic bracket (3).

8. A robot head according to claim 1, characterized in that, The telescopic adjustment structure (4) is a spring positioning pin, which includes a movable pin part, which is a telescopic part (41).

9. A robot head according to claim 8, characterized in that, The outer shell of the spring positioning pin is provided with a pull ring.

10. A robot, characterized in that, The robot includes a head and a body as described in any one of claims 1 to 9, wherein the body includes a head rotation servo, and the output end of the head rotation servo is fixedly connected to the robot head.

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