A robotic neck structure

Abstract

The utility model relates to robot technical field, and disclose a kind of robot neck structure, neck component, head component and body component;The neck component includes flexible neck cover component and rigid skeleton component;The head component is set at the top of the neck component;Flexible neck cover component, the flexible neck cover component is set to the outside of the neck component;Rigid skeleton component, the rigid skeleton component is set to the inside of the flexible neck cover component, the flexible neck cover component includes upper neck ring, the bottom of the upper neck ring is provided with bottom ring, the bottom of the bottom ring is provided with lower neck ring, the bottom of the lower neck ring is provided with inner support ring.The utility model promotes neck to be in flexible state by the cooperation between upper neck ring and lower neck ring and bottom ring and inner support ring in flexible neck cover component, avoid the problem that human form difference is big and neck appearance is not coordinated, meanwhile, flexible material has good wrapping and certain elasticity, does not affect threading.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically a robot neck structure. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as jobs or movement through programming and automatic control.

[0003] For example, in the prior art patent application with patent number CN221364801U, the head structure can rotate relative to the neck structure under the drive of the first driving member. At the same time, under the drive of the two driving parts, the support part can move relative to the body structure. This can combine a variety of head movement actions, with more degrees of freedom, making the robot more biomimetic.

[0004] However, the use of plastic parts to cover the structure makes it more compact, but it has disadvantages such as inconvenience in threading, significant differences from the human body shape, and a lack of harmony in the appearance of the neck. Utility Model Content

[0005] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0006] Given that the existing technology uses plastic parts for covering, the structure is relatively compact, but there are disadvantages such as inconvenience in threading, significant differences from the human body shape, and lack of harmony with the appearance of the neck.

[0007] To achieve the above objectives, this utility model provides the following technical solution: A robot neck structure, comprising: A neck assembly, a head assembly, and a body assembly; the neck assembly includes a flexible neck collar assembly and a rigid frame assembly; the body assembly is disposed at the bottom of the neck assembly, the head assembly is disposed at the top of the neck assembly, the flexible neck collar assembly is disposed on the outside of the neck assembly, and the rigid frame assembly is disposed inside the flexible neck collar assembly.

[0008] As a further embodiment of this utility model: the flexible neck brace assembly includes: an upper neck ring, an inner support ring, a bottom ring, and a lower neck ring; the upper neck ring is disposed at the bottom of the head assembly, the bottom ring is disposed at the bottom of the upper neck ring, the lower neck ring is disposed at the bottom of the bottom ring, and the inner support ring is disposed at the bottom of the lower neck ring.

[0009] As a further improvement of this utility model: the lower neck ring and the upper neck ring are made of flexible material, the lower neck ring has a lower neck ring edge around the top, the lower neck ring has several rubber-reducing grooves on the outer side, and the lower neck ring has a lower neck ring groove on the outer side of the top.

[0010] As a further embodiment of this utility model: the bottom of the upper neck ring is provided with an upper neck ring edge, the outer side of the upper neck ring and the top of the upper neck ring edge are provided with an upper neck ring concave annular surface, the right side of the upper neck ring is provided with an upper neck ring groove, and the outer side of the top of the upper neck ring is provided with an upper edge.

[0011] As a further improvement of this utility model, the bottom ring is glued to the bottom of the upper neck ring, thereby ensuring that the upper neck ring and the lower neck ring do not detach at the point of interaction during nodding.

[0012] As a further embodiment of this utility model: the rigid frame assembly includes: a rotating head motor, a connector, a nodding head motor, and a neck column; the connector is fixedly installed on the top of the rotating head motor, the nodding head motor is fixedly installed on the top of the connector, and the neck column is fixedly installed on the top of the nodding head motor.

[0013] As a further embodiment of this utility model: the bottom of the rotating head motor is fixedly installed with the top of the body component, and the top of the neck column is fixedly installed with the bottom of the head component.

[0014] As a further embodiment of this invention: the rigid frame assembly includes two degrees of freedom, the flexible neck collar assembly covers the outside of the rigid frame assembly and connects the body assembly and the head assembly.

[0015] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model uses the cooperation between the upper and lower neck rings, as well as the bottom ring and inner support ring in the flexible neck sleeve assembly to keep the neck in a flexible state, thus avoiding the problems of large differences in human body shape and lack of coordination in the appearance of the neck. At the same time, the flexible material has good wrapping properties and a certain degree of elasticity, so it does not affect the crossing of the seam.

[0016] 2. This utility model uses a separate upper and lower neck ring to prevent deformation when the head turns at a large angle. At the same time, the circular shape of both rings ensures smooth head turning, and the inner support ring and bottom ring prevent the head from coming loose when nodding. Attached Figure Description

[0017] Figure 1 A schematic diagram of a preferred embodiment of a robot neck structure; Figure 2 for Figure 1 The diagram shows the overall frontal structure. Figure 3 for Figure 1 The diagram shows the internal structure of the neck assembly. Figure 4 for Figure 1 The diagram shows the external structure of the neck assembly. Figure 5 for Figure 4 The diagram shown is a structural schematic of the lower neck collar. Figure 6 for Figure 3 The diagram shows the structure of the rigid frame. Figure 7 for Figure 4 The diagram shows the structure of the flexible neck collar. Figure 8 for Figure 7 The diagram shows the structure of the upper neck collar.

[0018] In the diagram: 1. Neck assembly; 2. Head assembly; 11. Flexible neck collar assembly; 111. Upper neck collar; 1111. Upper edge; 1112. Second groove; 1113. Upper neck collar concave annular surface; 1114. Upper neck collar edge; 112. Inner support ring; 113. Bottom ring; 114. Lower neck collar; 1141. Groove; 1142. Reducing adhesive groove; 1143. Lower neck collar edge; 12. Rigid frame assembly; 121. Head rotating motor; 122. Connector; 123. Head nodding motor; 124. Neck column; 3. Body assembly. Detailed Implementation

[0019] To make the above-mentioned objectives, features and advantages of this utility model more readily understood, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0020] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0021] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0022] Example 1: Please see Figure 1 - Figure 4 This is the first embodiment of the present invention. This embodiment provides a robot neck structure, including: Neck component 1; Body component 3 is located at the bottom of neck component 1; Head assembly 2, which is positioned on top of neck assembly 1; The neck assembly (1) includes a flexible neck sleeve assembly (11) and a rigid frame assembly (12), wherein the flexible neck sleeve assembly 11 is disposed on the outside of the neck assembly 1; and the rigid frame assembly 12 is disposed inside the flexible neck sleeve assembly 11.

[0023] For example, the flexible neck collar assembly 11 includes an upper neck collar 111, a bottom ring 113 is provided at the bottom of the upper neck collar 111, a lower neck collar 114 is provided at the bottom of the bottom ring 113, and an inner support ring 112 is provided at the bottom of the lower neck collar 114.

[0024] Furthermore, the upper neck ring 111 has an upper edge 1111 on the outer side of the top, which fits the bottom of the head assembly 2 to avoid gaps; the outer middle part has a concave annular surface 1113 of the upper neck ring, which simulates the curve of the human neck and enhances the aesthetics.

[0025] For example, the rigid frame 12 includes a rotating head motor 121, a connector 122 is fixedly mounted on the top of the rotating head motor 121, a nodding motor 123 is fixedly mounted on the top of the connector 122, and a neck column 124 is fixedly mounted on the top of the nodding motor 123.

[0026] Furthermore, a second groove 1112 is opened on the right side of the upper neck ring 111 for leading out the data cable or control cable of the head device; the bottom is provided with the edge 1114 of the upper neck ring, which is adapted to the bottom ring 113.

[0027] For example, the lower neck ring 114 and the upper neck ring 111 are made of flexible material. The lower neck ring 114 has a lower neck ring edge 1143 around the top of the lower neck ring 114, a plurality of rubber-reducing grooves 1142 are opened on the outer side of the lower neck ring 114, and a groove 1141 is opened on the outer side of the top of the lower neck ring 114.

[0028] Furthermore, the lower neck ring 114 has a lower neck ring edge 1143 around the top, which is nested with the bottom of the bottom ring 113; several rubber reduction grooves 1142 are evenly opened on the outer side to reduce material shrinkage stress and improve bending flexibility; a groove 1141 is provided on the top outer side to accommodate the positioning protrusion of the bottom ring 113.

[0029] In use, the robot's neck assembly 1 is a structural component that connects the body assembly 3 and the head assembly 2.

[0030] The flexible neck collar 11 includes an upper neck ring 111, a lower neck ring 114, an inner support ring 112, and a bottom ring 113. The rigid frame 12 includes a head rotating motor assembly 121, a connector 122, a head nodding motor assembly 123, and a neck column 124.

[0031] The rigid frame 12 has two degrees of freedom, enabling it to perform both head turning and head nodding functions.

[0032] The flexible neck collar 11 covers the outside of the rigid frame 12, connects the body component 3 and the head component 2, and serves as an appearance component to represent the robot's shape. During the movement of the rigid frame 12, the flexible neck collar 11 needs to be able to flexibly adjust its shape without significant drag resistance.

[0033] The inner surface of the lower neck ring 114 is provided with several rubber reduction grooves 1142, which further improve the flexibility of the lower neck ring by reducing the wall thickness at this location.

[0034] In summary, the flexible neck brace assembly 11, through the cooperation between the upper neck ring 111 and the lower neck ring 114, as well as the bottom ring 113 and the inner support ring 112, keeps the neck in a flexible state, avoiding the problems of large differences in human body shape and lack of coordination in neck appearance. At the same time, the flexible material has good wrapping properties and a certain degree of elasticity, so it does not affect the crossing of the seam.

[0035] Example 2: Please see Figure 5 - Figure 8 This is the second embodiment of the present utility model.

[0036] For example, the bottom of the upper neck ring 111 is provided with an upper neck ring edge 1114, the outer side of the upper neck ring 111 and the top of the upper neck ring edge 1114 are provided with an upper neck ring concave annular surface 1113, the right side of the upper neck ring 111 is provided with a second groove 1112, and the outer side of the top of the upper neck ring 111 is provided with an upper edge 1111.

[0037] Furthermore, the bottom ring 113 has an annular structure and is made of hard plastic; the top is bonded to the upper neck ring 111, and the bottom has an annular protrusion that matches the groove 1141 of the lower neck ring 114.

[0038] For example, the bottom of the head motor 121 is fixedly mounted to the top of the body assembly 3, and the top of the neck column 124 is fixedly mounted to the bottom of the head assembly 2.

[0039] Furthermore, the inner support ring 112 is fixed to the inner side of the bottom of the lower neck ring 114 and fits against the top of the body component 3.

[0040] For example, the bottom ring 113 is glued to the bottom of the upper neck ring 111 to ensure that the upper neck ring 111 and the lower neck ring 114 do not detach during the nodding process.

[0041] Furthermore, the nodding motor 123 has a cylindrical structure; the bottom is provided with a threaded hole to fit the flange of the nodding motor 123, and the top is provided with a positioning boss to fit the positioning hole at the bottom of the head assembly 2.

[0042] In order to achieve flexibility during use, the upper neck ring 111 and the lower neck ring 114 are made of flexible software. When turning the head, the body component 3 and the head component 2 will have a large relative movement. Therefore, the upper neck ring 111 and the lower neck ring 114 are two parts. The edge 1143 of the lower neck ring and the concave annular surface 1113 of the upper neck ring are both annular surfaces to ensure flexible rotation.

[0043] When the robot needs to nod, there will be a large relative displacement between the lower edge of the rear head and the upper edge of the rear body. Therefore, several folds are made on the upper neck collar 111. When nodding, the folds are straightened appropriately to make up for the increased distance.

[0044] Since both the upper neck ring 111 and the lower neck ring 114 are made of flexible materials, they undergo significant displacement during nodding. The lower edge 1114 of the upper neck ring 111 may detach from the edge 1143 of the lower neck ring, causing them to separate. The inner support ring 112 and the bottom ring 113 are designed to prevent this. The inner support ring 112 is placed within the groove 1141 and fixed to the lower neck ring 114 with adhesive. After the lower edge 1114 of the upper neck ring 111 is fitted into the inner support ring 112, the bottom ring 113 is glued to the bottom of the upper neck ring 111. This ensures that the upper neck ring 111 and the lower neck ring 114 interact during nodding and do not detach.

[0045] In summary, the separation of the upper neck ring 111 and the lower neck ring 114 ensures that deformation will not occur at larger head turning angles, while the circular shape of both ensures smooth head turning, and the use of the inner support ring 112 and the bottom ring 113 prevents them from coming off when nodding.

[0046] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of this utility model. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structural equivalents but also equivalent structures. Without departing from the scope of this invention, other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments. Therefore, this invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0047] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the present invention as currently considered, or those features that are not relevant to implementing the present invention) may be omitted.

[0048] It should be understood that numerous specific implementation decisions can be made during the development of any actual implementation method, and in any engineering or design project. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, the development effort will be a routine task in design, manufacturing, and production without requiring extensive experimentation.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robot neck structure, characterized in that: include: The neck assembly (1), head assembly (2), and body assembly (3) are provided. The neck assembly (1) includes a flexible neck sleeve assembly (11) and a rigid skeleton assembly (12). The body assembly (3) is disposed at the bottom of the neck assembly (1), the head assembly (2) is disposed at the top of the neck assembly (1), the flexible neck sleeve assembly (11) is disposed on the outside of the neck assembly (1), and the rigid skeleton assembly (12) is disposed inside the flexible neck sleeve assembly (11).

2. The robot neck structure according to claim 1, characterized in that: The flexible neck collar assembly (11) includes: an upper neck collar (111), an inner support ring (112), a bottom ring (113), and a lower neck collar (114); the upper neck collar (111) is disposed at the bottom of the head assembly (2), the bottom ring (113) is disposed at the bottom of the upper neck collar (111), the lower neck collar (114) is disposed at the bottom of the bottom ring (113), and the inner support ring (112) is disposed at the bottom of the lower neck collar (114).

3. The robot neck structure according to claim 2, characterized in that: The lower neck ring (114) and the upper neck ring (111) are made of flexible material. The lower neck ring (114) has a lower neck ring edge (1143) around the top. The lower neck ring (114) has several rubber reduction grooves (1142) on the outer side. The lower neck ring (114) has a lower neck ring groove (1141) on the outer side of the top.

4. The robot neck structure according to claim 2, characterized in that: The bottom of the upper neck ring (111) is provided with an upper neck ring edge (1114), the outer side of the upper neck ring (111) and the top of the upper neck ring edge (1114) are provided with an upper neck ring concave annular surface (1113), the right side of the upper neck ring (111) is provided with an upper neck ring groove (1112), and the outer side of the top of the upper neck ring (111) is provided with an upper edge (1111).

5. The robot neck structure according to claim 2, characterized in that: The bottom of the upper neck ring (111) is glued to the bottom ring (113) to ensure that the upper neck ring (111) and the lower neck ring (114) do not detach during the nodding process.

6. The robot neck structure according to claim 1, characterized in that: The rigid frame assembly includes: a rotating head motor (121), a connector (122), a nodding head motor (123), and a neck column (124); the connector (122) is fixedly installed on the top of the rotating head motor (121), the nodding head motor (123) is fixedly installed on the top of the connector (122), and the neck column (124) is fixedly installed on the top of the nodding head motor (123).

7. The robot neck structure according to claim 6, characterized in that: The bottom of the rotating head motor (121) is fixedly installed to the top of the body assembly (3), and the top of the neck column (124) is fixedly installed to the bottom of the head assembly (2).

8. The robot neck structure according to any one of claims 1 to 7, characterized in that: The rigid frame assembly (12) includes two degrees of freedom. The flexible neck collar assembly (11) covers the outside of the rigid frame assembly (12) and connects the body assembly (3) and the head assembly (2).

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