A robot neck mechanism and robot

Abstract

The embodiment of the application provides a robot neck mechanism and a robot, and relates to the technical field of robots.The robot neck mechanism comprises a main body support, a neck movable device and a driving device.The neck movable device is installed on the main body support, and is at least partially movably arranged.The neck movable device is used for driving the head of the robot to move.The driving device is installed on the main body support and is located below the neck movable device.According to the scheme of the embodiment, the driving device is separated from the neck movable device, and the driving device is installed below the neck movable device, so that the center of gravity of the robot neck mechanism can be lowered, the overall center of gravity of the robot can be lowered when the robot neck mechanism is installed on the robot, and the stability of the movement of the robot can be improved.

Description

Technical Field

[0001] This application relates to the technical field of robots, specifically to a robot neck mechanism and a robot. Background Technology

[0002] In the design of existing robots (especially service robots, humanoid robots and other models that need to have head movement functions), the industry generally adopts the direct drive technology of motors for the drive control of neck movement degrees of freedom. Specifically, to achieve rotation and pitch movements of the robot's head around its neck, existing designs typically integrate the drive motor directly into the neck transmission mechanism. The motor itself is usually mounted close to the robot's head, meaning the fixed end of the motor is connected to the upper neck structure, and the output directly drives the head assembly. While this layout simplifies the neck transmission chain and reduces transmission errors to improve head movement accuracy, it has significant structural drawbacks in practical applications. Because the motor itself (including the matching reduction mechanism and control module) has a certain weight, concentrating it near the head position will cause the robot's overall center of gravity to shift significantly upwards. In actual operation, robots often need to perform walking, turning, and posture adjustments. In such dynamic scenarios, a high center of gravity will severely affect the robot's motion stability: on the one hand, when starting, braking, or turning, the robot's center of gravity may deviate beyond the stability threshold, causing the robot to tilt and affecting the accuracy of its movement; on the other hand, when the robot moves on uneven ground or experiences minor external impacts, a high center of gravity will significantly reduce its anti-tipping ability, making it highly susceptible to tipping accidents. Utility Model Content

[0003] This application provides a robot neck mechanism and a robot, which aims to improve the motion stability of existing robots.

[0004] On one hand, embodiments of this application provide a robot neck mechanism, including: Main support frame; A neck movement device is mounted on the main support frame. The neck movement device is at least partially movable and is used to drive the robot's head to move. The drive unit is mounted on the main support and located below the neck movement device.

[0005] In some embodiments, the main support includes a first mounting platform and a second mounting platform spaced apart along the vertical direction; The neck movement device is mounted on the first mounting platform, and the drive device is mounted on the second mounting platform.

[0006] In some embodiments, the neck movement device includes a neck bending assembly that is at least partially pitchable relative to the main support. The drive device includes a first drive component for driving the pitch movement of the neck bending component, the first drive component being disposed below the neck bending component.

[0007] In some embodiments, the neck bending assembly includes: Multiple stacked pieces are movably overlapped in the vertical direction, and at least part of each pair of adjacent stacked pieces are spaced apart in the vertical direction. A pull cord, connected to the stacked plates, is used to pull one side of the stacked plates vertically when the pull cord is in motion.

[0008] In some embodiments, a plurality of pull cords are provided, and the plurality of pull cords are distributed at circumferential intervals along the stacked plates.

[0009] In some embodiments, the plurality of pull cords are arranged opposite each other in pairs in the circumferential direction of the stack, and the ends of the opposite pull cords away from the stack are connected. The first drive assembly includes a first drive motor and a turntable. The first drive motor is used to drive the turntable to rotate. The ends of the two opposing pull ropes away from the stacked pieces are wound around the turntable to tighten one of the pull ropes and release the other pull rope when the turntable rotates.

[0010] In some embodiments, the turntable is provided with guide grooves around its circumference; and / or, The turntable and / or the pull rope surface are provided with a reinforcing layer; and / or The laminate has multiple reinforcement channels extending through it along its thickness direction.

[0011] In some embodiments, the neck bending assembly further includes a support rod connected to the plurality of stacked plates for supporting the plurality of stacked plates.

[0012] In some embodiments, the neck movement device includes a head rotation assembly, the head rotation assembly including a mounting base and a rotating part disposed at the mounting base, the rotating part being fixedly mounted to the head of the robot to drive the head of the robot to rotate; The driving device includes a second driving component for driving the rotating part to rotate, and the second driving component is located below the head rotating component.

[0013] In some embodiments, the head rotation assembly further includes: A drive gear is rotatably mounted on the mounting base; The driven gear is rotatably mounted on the mounting base, meshes with the driving gear, and is also fixedly connected to the rotating part, so as to drive the rotating part to rotate under the movement of the driving gear; The second drive component includes a second drive motor, which is connected to the drive gear via a flexible shaft.

[0014] On the other hand, embodiments of this application provide a robot including a robot neck mechanism as described in any of the above descriptions.

[0015] In some embodiments, the robot includes a ball-wheel mobile robot.

[0016] This embodiment of the application separates the drive device from the neck movement device and installs the drive device below the neck movement device, thereby lowering the center of gravity of the robot's neck mechanism. When it is installed on the robot, it also lowers the robot's overall center of gravity, improving the stability of the robot's movement. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a three-dimensional structural schematic diagram of the robot neck mechanism provided in some embodiments of this application; Figure 2 yes Figure 1 Exploded view of the robot's neck mechanism; Figure 3 yes Figure 2 A three-dimensional structural diagram of the neck bending component in the image; Figure 4 yes Figure 3 A magnified view of a section at point A in the middle; Figure 5 yes Figure 2 A three-dimensional structural diagram of the first drive component; Figure 6 yes Figure 2 The diagram shows the drive installation of the head rotation assembly and the second drive assembly.

[0019] Explanation of key component symbols: Detailed Implementation

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

[0021] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. 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, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.

[0023] The use of "applies to" or "configured to" in this application implies open and inclusive language, which does not exclude the applicability to or configuration to devices performing additional tasks or steps. Additionally, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0024] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0025] In the design of existing robots (especially service robots, humanoid robots and other models that need to have head movement functions), the industry generally adopts the direct drive technology of motors for the drive control of neck movement degrees of freedom. Specifically, to achieve rotation and pitch movements of the robot's head around its neck, existing designs typically integrate the drive motor directly into the neck transmission mechanism. The motor itself is usually mounted close to the robot's head, meaning the fixed end of the motor is connected to the upper neck structure, and the output directly drives the head assembly. While this layout simplifies the neck transmission chain and reduces transmission errors to improve head movement accuracy, it has significant structural drawbacks in practical applications. Because the motor itself (including the matching reduction mechanism and control module) has a certain weight, concentrating it near the head position will cause the robot's overall center of gravity to shift significantly upwards. In actual operation, robots often need to perform walking, turning, and posture adjustments. In such dynamic scenarios, a high center of gravity will severely affect the robot's motion stability: on the one hand, when starting, braking, or turning, the robot's center of gravity may deviate beyond the stability threshold, causing the robot to tilt and affecting the accuracy of its movement; on the other hand, when the robot moves on uneven ground or experiences minor external impacts, a high center of gravity will significantly reduce its anti-tipping ability, making it highly susceptible to tipping accidents.

[0026] Figure 1 This is a three-dimensional structural schematic diagram of the robot neck mechanism 100 provided in some embodiments of this application; Figure 2 yes Figure 1 Exploded view of the robot's neck mechanism 100; Figure 3 yes Figure 2 A three-dimensional structural diagram of the neck bending component 21 in the middle; Figure 4 yes Figure 3 A magnified view of a section at point A in the middle; Figure 5 yes Figure 2 A three-dimensional structural diagram of the first drive component 31; Figure 6 yes Figure 2 The diagram shows the drive installation of the head rotation component 22 and the second drive component 32.

[0027] Please refer to this document for details. Figures 1 to 5Some embodiments of this application provide a robot neck mechanism 100, which includes a main support 10, a neck movement device 20, and a drive device 30. The neck movement device 20 is mounted on the main support 10 and is at least partially movable. The neck movement device 20 is used to drive the robot's head to move. The drive device 30 is mounted on the main support 10 and is located below the neck movement device 20.

[0028] It should be noted that the specific formation of the main support 10 is not limited. It can be a support set separately for the neck movement device 20, or a support that constitutes the body of the robot, etc., and is not limited here.

[0029] The specific form of the neck movement device 20 is not limited. It may include a neck bending component 21, thereby enabling the robot's head to pitch, such as nodding or tilting its head. It may also include a head rotation component 22, thereby enabling the robot's head to rotate. The specific form is not limited here. Of course, the neck movement device 20 may include only one type of movement component or multiple movement components, thereby enabling a combination of multiple movements. The specific form is not limited here.

[0030] The specific implementation of the drive device 30 is not limited; it can be in the form of a drive motor, a drive cylinder, etc., and is not limited here.

[0031] The drive device 30 is located below the neck movement device 20. It may be that only a portion of the drive device 30 is located below the neck movement device 20. For example, when the drive device 30 includes multiple drive motors, only a portion of the drive motors may be located below the neck movement device 20, or all of the drive motors may be located below the neck movement device 20, etc. There is no limitation here.

[0032] In the solution of this embodiment, by separating the drive device 30 from the neck movement device 20 and installing the drive device 30 below the neck movement device 20, the center of gravity of the robot neck mechanism 100 can be lowered. When it is installed on the robot, the overall center of gravity of the robot can also be lowered, thereby improving the stability of the robot's movement.

[0033] It should be noted that the installation method of the neck movement device 20 and the drive device 30 on the main body bracket 10 is not limited. They can be installed by welding, screwing, snapping, etc. The installation position is also not limited. One of them can be located at the top of the main body bracket 10 and the other at the middle of the main body bracket 10, or one can be located at the middle of the main body bracket 10 and the other at the bottom of the main body bracket 10, or one can be located at the top of the main body bracket 10 and the other at the bottom of the main body bracket 10, etc. There are no limitations here.

[0034] Please see Figure 1 and Figure 2 In some embodiments, the main support 10 includes a first mounting platform 11 and a second mounting platform 12 spaced apart along the vertical direction; the neck movement device 20 is mounted on the first mounting platform 11, and the drive device 30 is mounted on the second mounting platform 12.

[0035] In this embodiment, by setting the first mounting platform 11 and the second mounting platform 12, the neck movement device 20 can be mounted on the first mounting platform 11 and the drive device 30 can be mounted on the second mounting platform 12. Compared with other installation schemes, such as direct mounting on the frame of the main support 10, in this embodiment, the installation platforms improve the stability of the installation of the neck movement device 20 and the drive device 30, and also improve the convenience of installation.

[0036] Specifically, in a further embodiment, the first mounting platform 11 is located at the top of the main support 10, and the second mounting platform 12 is located at the bottom of the main support 10. This arrangement allows the mounting position of the drive device 30 to be moved as low as possible, thereby lowering the overall center of gravity of the robot neck mechanism 100 and making the robot's center of gravity even lower.

[0037] In some embodiments, the neck movement device 20 includes a neck bending component 21, which is at least partially pitchable relative to the main support 10; the drive device 30 includes a first drive component 31 for driving the pitch movement of the neck bending component 21, the first drive component 31 being disposed below the neck bending component 21.

[0038] It should be noted that the specific implementation of the neck bending component 21 is not limited. It can be a multi-joint linkage mechanism, for example, it can include a base fixed to the robot's torso, a head support plate fixed to the head, and a neck control mechanism. The lower end of the neck is hinged to the base via a universal hinge. The neck control mechanism consists of at least two multi-link mechanisms connected to the neck and corresponding motors. Each multi-link mechanism and the neck together form a crank-rocker mechanism, which can realize the neck's nodding, tilting, turning, and other movements. It can also be a linkage telescopic mechanism, or a scheme using multiple stacked movable plates, etc., which is not limited here. The specific implementation of the first drive component 31 is not limited. It can be hydraulically driven, or driven by a motor, a cylinder, etc., which is not limited here.

[0039] In the scheme of this embodiment, by setting the neck bending component 21, the neck bending component 21 can at least partially move in pitch relative to the main support 10, thereby driving the robot's head to move in pitch along with the movement of the neck bending component 21, thereby realizing the robot's nodding, raising and other pitching actions. In addition, the first driving component 31 is set below the neck bending component 21, thereby shifting the center of gravity of the robot's neck mechanism 100 downward and improving its stability.

[0040] In some embodiments, the neck bending component 21 is disposed on the first mounting platform 11, and the first drive component 31 is mounted on the second mounting platform 12.

[0041] Please refer to this carefully. Figures 3 to 5 In some embodiments, the neck bending assembly 21 includes a plurality of stacked plates 211 and a pull cord 212. The plurality of stacked plates 211 are movably overlapped in the vertical direction, and at least partially spaced in the vertical direction between any two adjacent stacked plates 211. The pull cord 212 is connected to the stacked plates 211 to pull one side of the stacked plates 211 in the vertical direction when the pull cord 212 is in motion.

[0042] It should be noted that the plurality of stacked pieces 211 are movably overlapped in the vertical direction. This can mean that the plurality of stacked pieces 211 are movably installed, allowing them to move vertically under the pull of the pull rope 212. Alternatively, the plurality of stacked pieces 211 can be deformable, allowing them to deform under the pull of the pull rope 212, thus allowing at least a portion of them to move vertically. With this configuration, when the pull rope 212 is pulled downwards, one side of the stacked piece 211 can move downwards along with the rope 212. When the pull of the rope 212 is released, the stacked piece 211 can, under the effect of its deformation, perform a certain degree of reset. Alternatively, pulling the other side of the stacked piece 211 downwards can cause that side to move upwards, thereby achieving a pitching motion of the stacked piece 211 in the vertical direction, etc. No further limitations are specified here.

[0043] The pull cord 212 is connected to the stacked pieces 211. It may be connected to each of the multiple stacked pieces 211, or it may be connected to only some of the stacked pieces 211, etc., and there is no limitation here.

[0044] It should be emphasized that among the multiple stacked pieces 211, some may be interconnected and others may be spaced apart, or all may be spaced apart, etc., which are not limited here.

[0045] At least some of the adjacent two stacked pieces 211 are spaced apart in the vertical direction, so that when the pull rope 212 moves, the size of the gap between the two adjacent stacked pieces 211 can be changed, thereby avoiding interference between the two adjacent stacked pieces 211 when the stacked pieces 211 move.

[0046] In this embodiment, the neck bending assembly 21 includes multiple stacked pieces 211 and a pull rope 212. The multiple stacked pieces 211 are movably overlapped in the vertical direction, and at least part of each adjacent pair of stacked pieces 211 are spaced apart in the vertical direction. Thus, the size of the gap between the multiple stacked pieces 211 is changed by the movement of the pull rope 212, thereby allowing the robot's head to perform pitching motion.

[0047] Compared to other bending component solutions, such as multi-joint linkage mechanisms, the solution using rope 212 and laminate 211 offers more flexible motion, smaller system size, and higher motion precision.

[0048] The number of pull ropes 212 is not limited; there can be one or more, such as two, four, eight, etc., and no limitation is made here.

[0049] In some embodiments, a plurality of pull cords 212 are provided, and the plurality of pull cords 212 are distributed at circumferential intervals along the stacked pieces 211.

[0050] In the scheme of this embodiment, by providing multiple pull ropes 212 and distributing them at intervals along the circumference of the stacked pieces 211, it is possible to control the movement of different pull ropes 212 so that different positions of the stacked pieces 211 can perform pitching movements, thereby enabling the robot's head to perform more movements.

[0051] Furthermore, in some embodiments, the plurality of pull cords 212 are arranged in pairs opposite each other in the circumferential direction of the stack 211, and the ends of the two opposite pull cords 212 away from the stack 211 are connected; the first drive assembly 31 includes a first drive motor 311 and a turntable 312, the first drive motor 311 is used to drive the turntable 312 to rotate, and the ends of the two opposite pull cords 212 away from the stack 211 are wrapped around the turntable 312 so as to tighten one of the pull cords 212 and release the other pull cord 212 when the turntable 312 rotates.

[0052] In the scheme of this embodiment, the first drive motor 311 drives the turntable 312 to rotate, thereby enabling one of the two pull ropes 212 sleeved on the turntable 312 to be tightened, causing one side of the plurality of stacked pieces 211 to move downward, while releasing the other pull rope 212, thereby allowing one side of the plurality of stacked pieces 211 to move upward, thereby realizing the pitching action of the robot's head.

[0053] It should be noted that the first drive motor 311 and the turntable 312 may be provided as a single set, so that multiple pull ropes 212 are fitted onto the turntable 312, or multiple sets may be provided, with only two pull ropes 212 fitted onto each turntable 312. No limitation is made here.

[0054] In some embodiments, four pull ropes 212 are provided, and two sets of the first drive motor 311 and the turntable 312 are provided.

[0055] The specific material of the pull rope 212 is not limited; it can be made of polymer materials, steel wire rope, etc., and is not limited here.

[0056] In some embodiments, each turntable 312 is provided with only two pull ropes 212. This arrangement allows for individual control of the movement of two opposing pull ropes 212, improving control accuracy and avoiding interference between the movements of multiple pull ropes 212.

[0057] Specifically, in order to improve the stability of the pull rope 212, in some embodiments, the turntable 312 is provided with a guide groove 313 around its circumference. With this configuration, by placing one end of the pull rope 212 away from the stacked piece 211 in the guide groove 313, the guide groove 313 can guide the movement of the pull rope 212, thereby improving the stability of the pull rope 212.

[0058] In some embodiments, a reinforcing layer is provided on the surface of the turntable 312 and / or the pull rope 212. By providing a reinforcing layer on the surface of the turntable 312 and / or the pull rope 212, that is, by performing a surface hardening treatment on the turntable 312 and / or the pull rope 212, the wear on the pull rope 212 can be reduced, and the life of the pull rope 212 can be effectively improved.

[0059] In some embodiments, the stacked pieces 211 are flexibly arranged so that when the pull rope 212 is pulled, a portion of the stacked pieces 211 can deform and move in the vertical direction. Correspondingly, in order to facilitate the movement of the stacked pieces 211, a plurality of reinforcing channels 213 are provided through the stacked pieces 211 along its thickness direction. By providing a plurality of reinforcing channels 213, the strength of the stacked pieces 211 can be reduced, making the stacked pieces 211 easier to deform. When the pull rope 212 moves, a portion of the stacked pieces 211 can move with less force.

[0060] Specifically, the reinforcement reduction channel 213 may be a single channel or multiple channels, etc., and this is not limited here. In some embodiments, four reinforcement reduction channels 213 are provided.

[0061] Please refer to this carefully. Figures 3 to 5 In order to better maintain the straightness of the multiple stacked pieces 211 when at rest, in some embodiments, the neck bending assembly 21 further includes a support rod 214 connected to the multiple stacked pieces 211 for supporting the multiple stacked pieces 211.

[0062] It should be noted that if the support rod 214 is not provided, the first drive motor 311 would need to be locked for a long time to keep the stacked pieces 211 in a straight position when it is necessary to keep them in a static position. This would cause greater damage to the motor and result in poor stability when the pieces are straight.

[0063] In the solution of this application, by setting the support rod 214, which is connected to the plurality of stacked pieces 211, the support rod 214 is used to support the plurality of stacked pieces 211. Thus, when the neck bending assembly 21 is stationary, it can also be supported by the support rod 214 to keep it stationary, which provides high support stability. In addition, during the support process, the first drive motor 311 needs to be locked for a long time to avoid damage to the motor.

[0064] Furthermore, in some embodiments, the support rod 214 passes through the center of the stack 211, which allows one side of the stack 211 to move more freely.

[0065] In some embodiments, the support rod 214 is a metal support rod 214, which provides higher strength and better support stability.

[0066] Please refer to this carefully. Figure 1 , Figure 2 and Figure 6 In order to enable the robot's head to rotate, in some embodiments, the neck movement device 20 includes a head rotation assembly 22, which includes a mounting base 221 and a rotating part 222 disposed at the mounting base 221. The rotating part 222 is used to be fixedly mounted to the robot's head to drive the robot's head to rotate. The driving device 30 includes a second driving assembly 32 for driving the rotating part 222 to rotate, and the second driving assembly 32 is located below the head rotation assembly 22.

[0067] In the technical solution of this embodiment, by setting the second driving component 32 and the head rotation component 22, the second driving component 32 drives the rotating part 222 to rotate, thereby causing the robot's head to rotate, thus realizing the rotation of the head. The second driving component 32 is located below the head rotation component 22, which can lower the center of gravity of the robot's neck mechanism 100, improving the stability of the robot's movement.

[0068] Furthermore, in some embodiments, the head rotation component 22 is mounted on top of the neck bending component 21, so that when the neck bending component 21 performs pitching motion, the head rotation component 22 and the robot's head can perform pitching motion together.

[0069] In some embodiments, the head rotation assembly 22 further includes a drive gear 223 and a driven gear 224, which are rotatably mounted on the mounting base 221. The driven gear 224 is rotatably mounted on the mounting base 221, meshes with the drive gear 223, and is also fixedly connected to the rotating part 222 so as to drive the rotating part 222 to rotate under the movement of the drive gear 223. The second drive assembly 32 includes a second drive motor 321, which drives the drive gear 223.

[0070] In the scheme of this embodiment, by setting the driving gear 223 and the driven gear 224, compared with the direct drive of the motor, it is possible to change the rotation speed through the driving gear 223 and the driven gear 224, changing the high-speed motion of the motor into the low-speed motion of the robot head, thereby improving the accuracy of the control of the robot head motion.

[0071] Furthermore, in some embodiments, the diameter of the driven gear 224 is larger than the diameter of the driving gear 223.

[0072] The second drive motor 321 drives and connects to the drive gear 223. This connection can be achieved by the output shaft of the second drive motor 321 being directly connected to the drive gear 223, or by connecting through other components, etc., without limitation.

[0073] In some embodiments, the second drive motor 321 is connected to the drive gear 223 via a flexible shaft 322.

[0074] It should be noted that the flexible shaft 322 is a shaft with very low rigidity, high elasticity, and the ability to bend freely for transmission. It is used to connect two shafts that are not on the same axis, not in the same direction, or have relative motion to transmit rotational motion and torque. It can flexibly transmit rotational motion and torque to any position.

[0075] In the scheme of this embodiment, the second drive motor 321 is driven to connect to the drive gear 223 via a flexible shaft 322. On the one hand, this enables a lightweight design, and on the other hand, the deformable design of the flexible shaft 322 allows for better planning of the installation position of the second drive motor 321.

[0076] Furthermore, in some embodiments, the flexible shaft 322 is covered with a protective sleeve, which can prevent the movement of the flexible shaft 322 from interfering with other components.

[0077] This utility model also proposes a robot, which includes a robot neck mechanism 100. The specific structure of the robot neck mechanism 100 is as described in the above embodiments. Since this robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0078] Specifically, the robot may be a service robot, a humanoid robot, etc., and is not limited here.

[0079] In some embodiments, the robot includes a ball-wheel mobile robot. Since the ball-wheel mobile robot moves by relying on the ball wheels at its bottom, it is necessary to maintain the balance of the ball wheels during the movement. Otherwise, it is very easy to tilt or even fall over. Applying the technical solution of this application to the ball-wheel mobile robot can lower the center of gravity of the ball-wheel mobile robot and improve its stability.

[0080] The robot neck mechanism 100 and the robot provided in the embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A robot neck mechanism, characterized in that, include: Main support frame; A neck movement device is mounted on the main support frame. The neck movement device is at least partially movable and is used to drive the robot's head to move. The drive unit is mounted on the main support and located below the neck movement device.

2. The robot neck mechanism according to claim 1, characterized in that, The main support includes a first mounting platform and a second mounting platform that are spaced apart along the vertical direction. The neck movement device is mounted on the first mounting platform, and the drive device is mounted on the second mounting platform.

3. The robot neck mechanism according to claim 1 or 2, characterized in that, The neck movement device includes a neck bending assembly that is at least partially tiltable relative to the main support. The drive device includes a first drive component for driving the pitch movement of the neck bending component, the first drive component being disposed below the neck bending component.

4. The robot neck mechanism according to claim 3, characterized in that, The neck bending assembly includes: Multiple stacked pieces are movably overlapped in the vertical direction, and at least part of each pair of adjacent stacked pieces are spaced apart in the vertical direction. A pull cord, connected to the stacked plates, is used to pull one side of the stacked plates vertically when the pull cord is in motion.

5. The robot neck mechanism according to claim 4, characterized in that, Multiple pull ropes are provided, and the multiple pull ropes are distributed at intervals along the circumference of the stacked pieces.

6. The robot neck mechanism according to claim 5, characterized in that, The multiple pull ropes are arranged in pairs facing each other in the circumferential direction of the stacked pieces, and the ends of the two opposing pull ropes away from the stacked pieces are connected. The first drive assembly includes a first drive motor and a turntable. The first drive motor is used to drive the turntable to rotate. The ends of the two opposing pull ropes away from the stacked pieces are wound around the turntable to tighten one of the pull ropes and release the other pull rope when the turntable rotates.

7. The robot neck mechanism according to claim 6, characterized in that, The turntable is provided with guide grooves around its circumference; and / or, The turntable and / or the pull rope surface are provided with a reinforcing layer; and / or The laminate has multiple reinforcement channels extending through it along its thickness direction.

8. The robot neck mechanism according to claim 4, characterized in that, The neck bending assembly also includes a support rod connected to the plurality of stacked plates for supporting the plurality of stacked plates.

9. The robot neck mechanism according to claim 1, characterized in that, The neck movement device includes a head rotation assembly, which includes a mounting base and a rotating part disposed at the mounting base. The rotating part is used to be fixedly mounted to the head of the robot to drive the head of the robot to rotate. The driving device includes a second driving component for driving the rotating part to rotate, and the second driving component is located below the head rotating component.

10. The robot neck mechanism according to claim 9, characterized in that, The head rotation assembly also includes: A drive gear is rotatably mounted on the mounting base; The driven gear is rotatably mounted on the mounting base, meshes with the driving gear, and is also fixedly connected to the rotating part, so as to drive the rotating part to rotate under the movement of the driving gear; The second drive component includes a second drive motor, which is connected to the drive gear via a flexible shaft.

11. A robot, characterized in that, Includes the robot neck mechanism as described in any one of claims 1 to 10.

12. The robot as described in claim 11, characterized in that, The robot includes a ball-wheel mobile robot.

Images