A head structure and a simulation robot

Abstract

The utility model provides a kind of head structure and simulation robot, including head skeleton, motor support and pitch motor, the motor support includes oppositely arranged first fixed side plate and second fixed side plate, the first fixed side plate and the second fixed side plate are configured to be connected with neck structure;The pitch motor is fixed between the first fixed side plate and second fixed side plate;The head skeleton is rotatably connected with the first fixed side plate, the output shaft of the pitch motor is provided with the second fixed side plate, and is connected with the head skeleton, the axis of the pitch motor is arranged to pass through the gravity center of the head structure, the stability of head structure is improved.

Description

Technical Field

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

[0002] Humanoid robots need to perform various actions such as moving forward, backward, nodding, and raising their heads to achieve human-like interactions with their environment. Among these, the flexibility and stability of head movements are key to improving the robot's performance. The head structure is usually driven by pitch motors to achieve pitching movements such as nodding and raising the head.

[0003] In the prior art, there are various solutions for robot head and neck structures. For example, Chinese patent document CN222755459U discloses a head and neck structure for a humanoid robot. This structure places a pitch motor directly above the neck structure, and the pitch movement of the head is achieved by driving the pitch motor.

[0004] It is evident that the existing pitch motor is deviated from the center of gravity of the head structure. When the pitch motor starts or stops, the large inertial torque is generated because the axis of the pitch motor is deviated from the center of gravity of the head structure. This can easily cause the head to sway significantly at the beginning and end of the pitch motion, resulting in unstable movement. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a head structure and a simulated robot to solve the problem of motion instability caused by the pitch motor axis not passing through the center of gravity.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A head structure, comprising: Head skeleton; A motor bracket, the motor bracket including a first fixed side plate and a second fixed side plate disposed opposite to each other, the first fixed side plate and the second fixed side plate being configured to connect to a neck structure; A pitch motor, which is fixed between the first fixed side plate and the second fixed side plate; The head frame is rotatably connected to the first fixed side plate, the output shaft of the pitch motor passes through the second fixed side plate and is connected to the head frame, and the axis of the pitch motor is set to pass through the center of gravity of the head structure.

[0007] In a preferred embodiment, the pitch motor includes a non-output end face and an output end face arranged opposite to each other, the output end face is provided with an output shaft, and the output end face is connected to the second fixed side plate.

[0008] In a preferred embodiment, the head skeleton includes: The first frame side plate is rotatably connected to the first fixed side plate; The second frame side plate is connected to the output shaft of the pitch motor.

[0009] In a preferred embodiment, the first fixed side plate is provided with a frustum, and the first skeleton side plate is provided with a circular hole. The frustum is fitted into the circular hole so that the first skeleton side plate and the first fixed side plate are rotatably connected.

[0010] In a preferred embodiment, the motor bracket further includes: A fixed enclosure is provided, which is connected between the first fixed side plate and the second fixed side plate, and is located outside the pitch motor.

[0011] An inclined support plate, which connects the fixed enclosure plate and the base plate of the support; A support base plate, which is connected to the neck structure.

[0012] In a preferred embodiment, the head skeleton further includes: The upper frame plate is connected between the first frame side plate and the second frame side plate; The lower frame plate is connected between the first frame side plate and the second frame side plate.

[0013] As a preferred embodiment, it also includes: A head shell that is wrapped around the outside of the head skeleton and connected to the head skeleton.

[0014] A humanoid robot includes the head structure, neck structure, and torso structure described above. One end of the neck structure is connected to the housing of the pitch motor, and the other end of the neck structure is connected to the torso structure.

[0015] As a preferred embodiment, it also includes: A rotary motor, the housing of which is connected to the torso structure, and the output shaft of which is connected to the neck structure.

[0016] Compared with existing technologies, this technical solution has the following advantages: By setting the axis of the pitch motor to pass through the overall center of gravity of the head structure, the inertial torque caused by the center of gravity deviating from the axis is eliminated, improving the stability of the head structure during the start and stop of pitch movements.

[0017] By setting a first connection point and a second connection point on both sides of the pitch motor axis, a stable two-point support is provided for the head frame. Attached Figure Description

[0018] Figure 1 This is a cross-sectional view of the head structure described in this utility model; Figure 2 This is a schematic diagram of the assembly of the head skeleton and neck structure described in this utility model; Figure 3 This is a schematic diagram of the assembly of the motor bracket and neck structure described in this utility model; Figure 4 This is a schematic diagram of the assembly of the head structure and neck structure described in this utility model; Figure 5 This is a schematic diagram of the structure of the simulation robot described in this utility model.

[0019] In the diagram: 100 Head structure, 110 Head skeleton, 111 First skeleton side plate, 1111 Frame horizontal plate, 1112 Frame vertical plate, 111a Circular hole, 112 Second skeleton side plate, 120 Head shell, 121 Opening, 113 Frame upper plate, 114 Frame lower plate, 130 Pitch motor, 131 Non-output end face, 132 Output end face, 140 Motor bracket, 141 First fixed side plate, 141a Frustum, 142 Second fixed side plate, 143 Fixed enclosure plate, 144 Bracket inclined plate, 145 Bracket base plate, 200 Neck structure, 210 Neck side plate, 220 Neck upper plate, 230 Neck lower plate, 300 Torso structure, 400 Rotary motor. Detailed Implementation

[0020] The following description is intended to disclose the present invention so that those skilled in the art can implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the present invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the present invention.

[0021] First Embodiment Please refer to Figures 1 to 3 An embodiment of this utility model provides a head structure 100, comprising: Head skeleton 110; Motor bracket 140, the motor bracket 140 includes a first fixed side plate 141 and a second fixed side plate 142 disposed opposite to each other, the first fixed side plate 141 and the second fixed side plate 142 being configured to be connected to the neck structure 200; A pitch motor 130 is fixed between the first fixed side plate 141 and the second fixed side plate 142. The head frame 110 is rotatably connected to the first fixed side plate 141, the output shaft of the pitch motor 130 passes through the second fixed side plate 142 and is connected to the head frame 110, and the axis of the pitch motor 130 is set to pass through the center of gravity of the head structure 100.

[0022] In existing technology, the axis of the pitch motor is offset from the center of gravity of the head structure. In this configuration, when the pitch motor drives the head structure to rotate around its axis, the head structure's center of gravity moves in a circular motion around the motor's axis. This motion generates centrifugal acceleration, which in turn induces periodically changing inertial forces. These inertial forces create an inertial torque relative to the pitch motor axis, which is the cause of instability during the start-up and stopping of the head's pitch motion.

[0023] In this embodiment, the axis of the pitch motor 130 is positioned to pass through the center of gravity of the head structure 100, structurally achieving the coincidence of the center of gravity and the axis of the pitch motor 130. With this structural optimization, when the head structure 100 rotates around the axis of the pitch motor, its center of gravity is located on this axis, and no additional inertial torque is generated due to centrifugal motion. Therefore, the torque output by the pitch motor 130 can completely overcome the moment of inertia to generate angular acceleration, thereby improving the smoothness of the pitch movement.

[0024] Furthermore, the connection point between the first fixed side plate 141 and the head frame 110 is defined as the first connection point, and the connection point between the output shaft of the pitch motor 130 and the head frame 110 is defined as the second connection point. Both the first and second connection points are located on the axis of the pitch motor 130 and are positioned on opposite sides of the pitch motor 130. When the pitch motor 130 is operating, the head frame 110 is supported by both the first and second connection points, avoiding swaying caused by unilateral support, thereby improving the stability of the head frame 110 rotating around the axis of the pitch motor 130.

[0025] like Figure 1 As shown, the center of gravity of the head structure 100 is approximately located at the geometric center of the head structure 100. Specifically, the center of gravity is approximately located at the midpoint between the top and bottom, face and back, and left and right sides of the head structure 100. The axis of the pitch motor 130 is configured as a horizontal axis extending from left to right and passing through the center of gravity of the head structure 100.

[0026] like Figure 1 and Figure 3As shown, the pitch motor 130 is fixed inside the head structure 100 by the motor bracket 140. The two ends of the motor bracket 140 are respectively connected to the housing of the pitch motor 130 and the neck structure 200. The motor bracket 140 is configured in an inclined position so that the axis of the pitch motor 130 passes through the center of gravity of the head structure 100.

[0027] refer to Figure 3 The pitch motor 130 includes a non-output end face 131 and an output end face 132 that are disposed opposite to each other.

[0028] An output shaft is provided on the output end face 132, which faces the second fixed side plate 142. The output end face 132 and the second fixed side plate 142 are fixedly connected by bolts, thereby securely mounting the pitch motor 130 on the motor bracket 140. The output shaft passes through a through hole in the second fixed side plate 142 and connects to the head frame 110.

[0029] The non-output end face 131 faces the first fixed side plate 141. In one embodiment, a small gap can be maintained between the non-output end face 131 and the first fixed side plate 141. This gap provides operating space for the laying of motor cables.

[0030] The first fixed side plate 141 is constructed as a triangle, trapezoid, or frame with a notch. This design allows the notch of the first fixed side plate 141 to form a cable outlet channel, thereby facilitating the connection of the cable of the pitch motor 130 from the non-output end face 131 to the controller or the like within the neck structure 200.

[0031] like Figure 3 As shown, the motor bracket 140 further includes: A fixed enclosure 143 is connected between the first fixed side plate 141 and the second fixed side plate 142, and the fixed enclosure 143 is located outside the pitch motor 130.

[0032] The bracket inclined plate 144 is connected between the fixed enclosure plate 143 and the bracket base plate 145; The support base plate 145 is connected to the neck structure 200.

[0033] The fixed enclosure 143 surrounds the outside of the pitch motor 130, and a gap for assembly and heat dissipation is maintained between the two. In particular, the curvature of the fixed enclosure 143 is less than 180°. This design, together with the notch on the second fixed side plate 142, forms an open wiring space, which facilitates the laying of motor cables.

[0034] The inclined design of the support ramp 144 is such that the axis of the pitch motor 130 fixed thereon is positioned to pass through the center of gravity of the head structure 100. Furthermore, two ramps 144 are used to enhance the stability and reliability of the support.

[0035] The bracket base plate 145 has mounting holes and is connected to the upper neck 220 of the neck structure 200 below by bolts.

[0036] The first fixed side plate 141, the second fixed side plate 142, the fixed enclosure plate 143, the bracket inclined plate 144 and the bracket base plate 145 are connected into a whole by an integral molding method (such as casting, injection molding, etc.).

[0037] like Figures 1 to 3 As shown, the head skeleton 110 includes: The first frame side plate 111 is rotatably connected to the first fixed side plate 141; The second frame side plate 112 is connected to the output shaft of the pitch motor 130.

[0038] The first frame side plate 111 is located outside the first fixed side plate 141, and the two are rotatably connected. To achieve the rotatable connection, the first fixed side plate 141 is provided with a frustum 141a, and the first frame side plate 111 is provided with a circular hole 111a. The frustum 141a is fitted into the circular hole 111a, so that the first frame side plate 111 and the first fixed side plate 141 are rotatably connected.

[0039] The second frame side plate 112 is located outside the second fixed side plate 142, and the output shaft of the pitch motor 130 passes through the second fixed side plate 142 and is connected to the second frame side plate 112.

[0040] like Figure 2 As shown, the head skeleton 110 further includes: The upper frame plate 113 is connected between the first frame side plate 111 and the second frame side plate 112; The lower frame plate 114 is connected between the first frame side plate 111 and the second frame side plate 112.

[0041] The first skeleton side plate 111 and the second skeleton side plate 112 are arranged in parallel relative to each other, and the upper skeleton plate 113 and the lower skeleton plate 114 are connected between them, connecting the first skeleton side plate 111 and the second skeleton side plate 112 into a stable overall frame, effectively ensuring the structural rigidity and stability of the head skeleton 110.

[0042] The upper frame plate 113 and the lower frame plate 114 can be used to fix components, such as circuit boards.

[0043] refer to Figure 1 and Figure 2 The first skeleton side plate 111 and the second skeleton side plate 112 of the head skeleton 110 are both L-shaped. Taking the first skeleton side plate 111 as an example, it includes a skeleton horizontal plate 1111 and a skeleton vertical plate 1112 that are perpendicularly connected to each other. The lower end of the skeleton vertical plate 1112 is connected to the lower skeleton plate 114, the upper end of the skeleton vertical plate 1112 is connected to the front end of the skeleton horizontal plate 1111, the upper side of the skeleton horizontal plate 1111 is connected to the upper skeleton plate 113, and the upper skeleton plate 113 is disposed near the rear end of the skeleton horizontal plate 1111. The second skeleton side plate 112 has the same structure.

[0044] When the head structure 100 is facing forward, the upper frame plate 113 is located above and behind the pitch motor 130, and directly above the support base plate 145 of the motor bracket 140. A first gap is reserved between the upper frame plate 113 and the support inclined plate 144, which constitutes the angle space required for the head structure 100 to tilt its head.

[0045] The lower frame plate 114 is located below the pitch motor 130 and in front of the neck structure 200. At this time, the second gap between the lower frame plate 114 and the support inclined plate 144 is small.

[0046] When the pitch motor 130 drives the head structure 100 to perform a head-up movement, the head frame 110 rotates backward about its axis. During this process, the first gap between the upper frame plate 113 and the support inclined plate 144 gradually decreases; while at the same time, the second gap between the lower frame plate 114 and the support inclined plate 144 gradually increases. The increased second gap provides sufficient interference-free space for the head structure 100 to return from the head-up posture to its initial posture. Therefore, when the pitch motor 130 drives the head frame 110 to tilt its head around its axis, the head frame 110 will not interfere with the motor bracket 140, ensuring the reliability of the operation.

[0047] like Figure 1 and Figure 4 As shown, the head structure 100 further includes: A head shell 120 is wrapped around the outside of the head frame 110 and connected to the head frame 110, for example by a snap or screw.

[0048] Since the head shell 120 is connected to the head frame 110, the head shell 120 rotates with the head frame 110.

[0049] Second Embodiment like Figure 4 and Figure 5 As shown, this embodiment provides a simulation robot, including a head structure 100, a neck structure 200 and a torso structure 300 according to the first embodiment. One end of the neck structure 200 is connected to the housing of the pitch motor 130, and the other end of the neck structure 200 is connected to the torso structure 300.

[0050] The head structure 100 has an opening 121 at its lower part in the head shell 120, and the upper end of the neck structure 200 passes through the opening 121 and connects to the motor bracket 140. The size of the opening 121 is sufficient for the head structure 100 to perform pitch movements, providing ample relative movement space between the head shell 120 and the neck structure 200, thereby ensuring that no interference occurs between the head shell 120 and the neck structure 200 within the pitch range.

[0051] like Figure 2 and Figure 4 As shown, the neck structure 200 includes a neck side plate 210, a neck upper plate 220, and a neck lower plate 230. There are two neck side plates 210, which are connected between the neck upper plate 220 and the neck lower plate 230.

[0052] The upper neck plate 220 is connected to the support base plate 145 of the motor bracket 140, and the lower neck plate 230 is connected to the torso structure 300.

[0053] like Figure 4 As shown, the simulated robot also includes: A rotary motor 400, the housing of which is connected to the torso structure 300, and the output shaft of which is connected to the lower neck plate 230 of the neck structure 200.

[0054] The axis of the rotary motor 400 is vertically arranged and perpendicular to the axis of the pitch motor 130. The rotary motor 400 drives the neck structure 200 and the head structure 100 to perform horizontal rotation. The rotary motor 400 can be embedded inside the torso structure 300.

[0055] The embodiments described above are only used to illustrate the technical ideas and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it accordingly. The scope of patent application of this utility model should not be limited by these embodiments. That is, any equivalent changes or modifications made in accordance with the spirit disclosed in this utility model still fall within the patent scope of this utility model.

Claims

1. A head structure (100), characterized in that, include: Head skeleton (110); The motor bracket (140) includes a first fixed side plate (141) and a second fixed side plate (142) disposed opposite to each other, the first fixed side plate (141) and the second fixed side plate (142) being configured to be connected to the neck structure (200); A pitch motor (130) is fixed between the first fixed side plate (141) and the second fixed side plate (142); The head frame (110) is rotatably connected to the first fixed side plate (141), the output shaft of the pitch motor (130) passes through the second fixed side plate (142) and is connected to the head frame (110), and the axis of the pitch motor (130) is set to pass through the center of gravity of the head structure (100).

2. The head structure (100) as described in claim 1, characterized in that, The pitch motor (130) includes a non-output end face (131) and an output end face (132) arranged opposite to each other. An output shaft is provided on the output end face (132), and the output end face (132) is connected to the second fixed side plate (142).

3. The head structure (100) as described in claim 1, characterized in that, The head skeleton (110) includes: The first frame side plate (111) is rotatably connected to the first fixed side plate (141); The second frame side plate (112) is connected to the output shaft of the pitch motor (130).

4. The head structure (100) as described in claim 3, characterized in that, The first fixed side plate (141) is provided with a frustum (141a), and the first skeleton side plate (111) is provided with a circular hole (111a). The frustum (141a) is fitted into the circular hole (111a) so that the first skeleton side plate (111) and the first fixed side plate (141) are rotatably connected.

5. The head structure (100) as described in claim 1, characterized in that, The motor bracket (140) also includes: A fixed enclosure (143) is connected between the first fixed side plate (141) and the second fixed side plate (142), and the fixed enclosure (143) is located outside the pitch motor (130); The bracket inclined plate (144) is connected between the fixed enclosure plate (143) and the bracket base plate (145); The support base plate (145) is connected to the neck structure (200).

6. The head structure (100) as described in claim 3, characterized in that, The head skeleton (110) also includes: The upper frame plate (113) is connected between the first frame side plate (111) and the second frame side plate (112); The lower frame plate (114) is connected between the first frame side plate (111) and the second frame side plate (112).

7. The head structure (100) as described in claim 1, characterized in that, Also includes: A head shell (120) is wrapped around the outside of the head skeleton (110) and connected to it.

8. A simulated robot, characterized in that, Includes a head structure (100), a neck structure (200), and a torso structure (300) as described in any one of claims 1 to 7, wherein one end of the neck structure (200) is connected to the housing of the pitch motor (130), and the other end of the neck structure (200) is connected to the torso structure (300).

9. The simulated robot as described in claim 8, characterized in that, Also includes: A rotary motor (400) has its housing connected to the torso structure (300) and its output shaft connected to the neck structure (200).

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