A head assembly of a robot and a robot

Abstract

The utility model provides a kind of head component of robot and the robot comprising it, it is related to robot technical field.Head component includes: rear shell, front face shell and flexible neck cover, front face shell is detachably connected with the front side of rear shell, the bottom of rear shell is opened and is linked with flexible neck cover, flexible neck cover bottom end can be connected with robot torso, two sides are detachably connected with its head fixed support being set in rear shell, the inside of head fixed support is provided with pitch motor support, pitch motor support is installed with pitch motor in the inside, the output shaft of pitch motor is connected with the side of head fixed support, the bottom of pitch motor support is fixedly connected with the output end of rotary motor, rotary motor is fixed on rotary motor support, and rotary motor support is set in flexible neck cover.The utility model uses flexible neck cover with deformation ability, avoids to pitch and rotation to generate interference, improves camera field of vision range, guarantees robot travel safety and interactive stability.

Description

Technical Field

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

[0002] With the development of technology, robots have been widely used in industries such as homes, healthcare, catering, and construction, bringing numerous conveniences to people's lives and production. The robot head assembly is the top structural component of the robot and is an important part for human-computer interaction.

[0003] To facilitate human-computer interaction, the robot's head typically integrates a camera module and a voice interaction module. When the angle needs to be adjusted according to the subject being photographed, the robot's head needs to perform pitching or rotating movements to adjust the recognition area of ​​the camera module.

[0004] Currently, robots typically use geared motors to directly drive the robot head for pitching motion. This requires a relatively large space in the axial direction of the rotation axis, resulting in a less tight connection between the robot's head and body. It also limits the pitch angle of the robot's head, making it impossible to ensure that the camera module has a sufficiently wide field of view during human-computer interaction to quickly capture the interactive object.

[0005] In view of the above reasons, this utility model proposes a head assembly for a robot and a robot in order to solve the above-mentioned technical problems. Utility Model Content

[0006] The purpose of this invention is to provide a head assembly for a robot and a robot in general. The head assembly can be easily connected to the robot's torso, enabling the head to pitch and rotate widely, quickly capture interactive objects, and ensure a good interactive experience.

[0007] On one hand, this utility model provides a robot head assembly, including: a rear shell, a front face shell, and a flexible neck collar. The front face shell is detachably connected to the front side of the rear shell. The bottom of the rear shell is open and connected to the flexible neck collar. The bottom end of the flexible neck collar can be connected to the robot torso. A head fixing bracket is provided inside the rear shell and detachably connected to both sides. A pitch motor bracket is provided inside the head fixing bracket. A pitch motor is installed inside the pitch motor bracket. The output shaft of the pitch motor is connected to one side of the head fixing bracket. The bottom of the pitch motor bracket is fixedly connected to the output end of a rotary motor. The rotary motor is fixed on the rotary motor bracket. The rotary motor bracket is located inside the flexible neck collar.

[0008] Preferably, the head fixing bracket is inverted U-shaped, with fixing holes on both sides, which are adapted to the fixing screw holes on both sides of the rear shell and can be detachably connected by screws.

[0009] Preferably, a pitch limiting bracket is provided at the bottom of one side of the pitch motor bracket to mechanically limit the pitch angle of the head fixing bracket.

[0010] Preferably, the top of the rotary motor bracket is provided with a rotation limit bracket for mechanically limiting the rotation angle of the rotary motor.

[0011] Preferably, a camera mounting bracket is provided on the top of the head fixing bracket, an RGBD camera is mounted on the camera mounting bracket, and a camera mounting hole corresponding to the position of the RGBD camera is provided on the upper side of the front shell.

[0012] Preferably, a voice interaction device is provided inside the rear shell, which is used for voice interaction with the user, voice wake-up, and voice remote control of the robot.

[0013] Preferably, an eye frame is provided on the lower surface of the front shell, and two lenses are installed in the eye frame.

[0014] Preferably, a left camera and a right camera are provided inside the rear housing, the lens positions of the left camera and the right camera correspond to the positions of the two lenses respectively, and the left camera and the right camera are fixed on both sides of the binocular camera mounting bracket respectively.

[0015] Preferably, symmetrically arranged color-changing light strips are provided on both sides of the rear shell, and the light strips are covered with lamp shades.

[0016] On the other hand, this invention provides a robot including the aforementioned head assembly.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. By setting up a rear shell, a front shell, and a flexible neck sleeve, the modules can be easily installed and disassembled, facilitating assembly and repair; 2. The rear shell can be fixed by setting a head fixing bracket. The pitch motor bracket and pitch motor can be set to easily drive the head fixing bracket to adjust the pitch angle of the rear shell and front shell relative to the robot's torso. The flexible neck collar has deformation capability to avoid interference with the pitch process. At the same time, the rotary motor can drive the pitch motor bracket to rotate left and right, which can improve the camera's field of view and ensure the safety of the robot's movement and the stability of the interaction process. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art 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.

[0019] Figure 1 This is a front view of the head assembly of the robot of this utility model; Figure 2 This is a side view of the head assembly of the robot of this utility model; Figure 3 This is a structural diagram of the disassembled head assembly of the robot of this utility model; Explanation of reference numerals in the attached figures: 101: Rear shell; 102: Front shell; 103: Flexible neck cover; 2: Headrest bracket; 201: Mounting hole; 202: Weight reduction hole; 3: Pitch motor bracket; 4: Pitch motor; 5: Rotation motor; 6: Rotation motor bracket; 7: Pitch limit bracket; 8: Rotation limit bracket; 9: Camera mounting bracket; 10: RGBD camera; 11: Camera mounting hole; 12: Voice interaction device; 13: Eyeglass frame; 14: Lens; 15: Left camera; 16: Right camera; 17: Light strip; 18: Lampshade; 19: Binocular camera mounting bracket; 20: Cable guide hole. Detailed Implementation

[0020] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0021] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0023] Example 1 like Figure 1-3 As shown, this utility model provides a robot head assembly, including: a rear shell 101, a front face shell 102, and a flexible neck collar 103. The front opening of the rear shell 101 is adapted to the edge contour of the front face shell 102, so that the front face shell 102 and the front of the rear shell 101 can be detachably connected by a snap fastener. The bottom opening of the rear shell 101 is connected to the flexible neck collar 103, and the bottom end of the flexible neck collar 103 can be connected to the robot torso.

[0024] The rear shell 101 houses a head-fixing bracket 2 detachably connected to both sides. A pitch motor bracket 3 is located inside the head-fixing bracket 2, and a pitch motor 4 is mounted inside the pitch motor bracket 3. The output shaft of the pitch motor 4 is connected to one side of the head-fixing bracket 2, and the other side of the head-fixing bracket 2 is rotatably connected to the pitch motor bracket 3. Rotation of the pitch motor 4 drives the head-fixing bracket 2, the rear shell 101, and the front shell 102 to rotate as a whole, achieving the robot's head pitching motion. The bottom of the pitch motor bracket 3 is fixedly connected to the output end of a rotary motor 5. The rotary motor 5 is fixed to a rotary motor bracket 6, which is located inside a flexible neck collar 103, and its bottom end is fixedly connected to the top of the robot's torso. The upper part of the flexible neck collar 103 is made of a plastic or resin material with a certain degree of flexibility, allowing it to deform during robot head pitching. Its bottom end is made of a rigid material and is detachably connected to the robot's torso.

[0025] like Figure 3As shown, the head fixing bracket 2 is inverted U-shaped and is made of aluminum alloy. It has multiple fixing holes 201 on both sides, which can be adapted to the fixing screw holes on both sides of the rear shell 101 and can be detachably connected by screws, so that the rear shell 101 and the front shell 102 can move together. There are also multiple sets of parallel weight reduction holes 202 on the upper side of the fixing holes 201. The weight reduction holes 202 are elongated holes, which can reduce the weight of the head fixing bracket 2.

[0026] In this embodiment, a pitch limiting bracket 7 is provided on one side bottom of the pitch motor bracket 3. The front and rear ends of the pitch limiting bracket 7 extend upward to mechanically limit the pitch angle of the head fixing bracket 2, so as to prevent it from rotating beyond the limit position and thus failing to reset.

[0027] In this embodiment, rotation limit brackets 8 are provided on both sides of the top of the rotary motor bracket 6, and a stop bar perpendicular to it is connected to the output shaft of the rotary motor 5. The rotation limit brackets 8 on both sides can mechanically limit the rotation angle of the rotary motor, and at the same time provide the function of zeroing the initial position of the zero point.

[0028] A camera mounting bracket 9 is provided on the top of the head fixing bracket 2, and an RGBD camera 10 is mounted on the camera mounting bracket 9. A camera mounting hole 11 corresponding to the position of the RGBD camera 10 is provided on the upper side of the front shell 102. The RGBD camera can simultaneously acquire color images (RGB) and depth information (D) of the scene. By combining a traditional color camera and a depth sensor, it can provide richer three-dimensional scene information than a single RGB camera.

[0029] In this embodiment, a voice interaction device 12 is provided inside the rear shell 101. The voice interaction device 12 is detachably installed inside the top of the rear shell 101 by means of a snap-fit. The voice interaction device 12 is used for voice interaction with the user and for voice wake-up and voice remote control of the robot.

[0030] In this embodiment, an eye frame 13 is provided on the lower surface of the front shell 102, and two lenses 14 are installed inside the eye frame 13, which can serve as the robot's left and right eyes respectively. A left camera 15 and a right camera 16 are provided inside the rear shell 101. The lens positions of the left camera 15 and the right camera 16 correspond to the positions of the two lenses 14 respectively, and the left camera 15 and the right camera 16 are fixed on the same binocular camera mounting bracket 19. The left camera 15 and the right camera 16 can serve as the robot's left and right eyes respectively, and can collect surrounding three-dimensional scene information when the robot's head rotates.

[0031] In this embodiment, symmetrically arranged color-changing light strips 17 are provided on both sides of the rear shell 101, and lamp covers 18 are fitted over the light strips 17. The color of the light strips 17 is variable, and in addition to its decorative function, it can also display different light colors according to the robot's normal, alarm, or fault status.

[0032] The rotary motor bracket 6 has a through-hole 20, which allows for easy electrical connection of the various components inside the head assembly to the power module and control module located inside the robot's torso.

[0033] Example 2 This utility model also provides a robot whose head adopts the robot head component disclosed in Embodiment 1.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A head assembly for a robot, characterized in that, include: The robot comprises a rear shell, a front face shell, and a flexible neck collar. The front face shell is detachably connected to the front side of the rear shell. The bottom of the rear shell is open and connects to the flexible neck collar. The bottom end of the flexible neck collar can connect to the robot's torso. A head fixing bracket is provided inside the rear shell and detachably connected to both sides. A pitch motor bracket is provided inside the head fixing bracket, and a pitch motor is installed inside the pitch motor bracket. The output shaft of the pitch motor is connected to one side of the head fixing bracket. The bottom of the pitch motor bracket is fixedly connected to the output end of a rotary motor. The rotary motor is fixed on a rotary motor bracket, and the rotary motor bracket is located inside the flexible neck collar.

2. The head assembly of the robot according to claim 1, characterized in that, The head fixing bracket is inverted U-shaped, with fixing holes on both sides, which are adapted to the fixing screw holes on both sides of the rear shell and can be detachably connected by screws.

3. The head assembly of the robot according to claim 1, characterized in that, A pitch limiting bracket is provided on one side of the bottom of the pitch motor bracket, which is used to mechanically limit the pitch angle of the head fixing bracket.

4. The head assembly of the robot according to claim 1, characterized in that, The top of the rotary motor bracket is provided with a rotation limit bracket, which is used to mechanically limit the rotation angle of the rotary motor.

5. The head assembly of the robot according to claim 1, characterized in that, The top of the head fixing bracket is provided with a camera fixing bracket, and an RGBD camera is mounted on the camera fixing bracket. The upper side of the front shell is provided with a camera mounting hole corresponding to the position of the RGBD camera.

6. The head assembly of the robot according to claim 1, characterized in that, The rear shell is equipped with a voice interaction device, which is used for voice interaction with the user, voice wake-up, and voice remote control of the robot.

7. The head assembly of the robot according to claim 1, characterized in that, An eye frame is provided on the lower surface of the front shell, and two lenses are installed in the eye frame.

8. The head assembly of the robot according to claim 7, characterized in that, The rear housing contains a left camera and a right camera. The lens positions of the left camera and the right camera correspond to the positions of the two lenses, and the left camera and the right camera are fixed on both sides of the binocular camera mounting bracket.

9. The head assembly of the robot according to claim 1, characterized in that, The rear shell has symmetrically arranged color-changing light strips on both sides, and the light strips are covered with lamp shades.

10. A robot, characterized in that, The head assembly of the robot included in any one of claims 1-9.

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