CN116276946A

CN116276946A - Neck mechanism and robot

Info

Publication number: CN116276946A
Application number: CN202310120449.0A
Authority: CN
Inventors: 何俊培; 张腾涛; 黄诗轩; 陈相羽; 刘飞; 徐志根
Original assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Current assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-06-23

Abstract

The application provides a neck mechanism and robot, neck mechanism includes: the bearing frame comprises a bearing part, an extension rod and a positioning seat, wherein the extension rod is convexly arranged on one side of the bearing part, the positioning seat is arranged on the extension rod and is arranged at intervals with the bearing part, and the bearing part is used for being connected with a trunk part mechanism of the robot; the driving shaft penetrates through the bearing part and the positioning seat and is rotationally connected with the bearing part; the first connecting seat is connected to one end of the driving shaft and is positioned at one side of the bearing part, which is away from the extension rod; the first driving assembly comprises a first motor, a first synchronous belt, a first belt wheel and a second belt wheel, wherein the first motor is arranged on one side, deviating from the first connecting seat, of the bearing part, the first motor and the driving shaft are arranged at intervals, the first belt wheel is arranged on an output shaft of the first motor, the second belt wheel is arranged on the driving shaft, the first synchronous belt is wound on the first belt wheel and the second belt wheel, and the first motor is used for driving the first belt wheel to rotate so as to drive the first connecting seat to rotate.

Description

Neck mechanism and robot

Technical Field

The application relates to the field of robots, in particular to a neck mechanism and a robot.

Background

In the field of biomimetic robots, the robot may include a head and a torso, and a neck mechanism may be connected between the torso and the head, which may drive the head to move in one or more directions. The neck mechanism can comprise a push rod motor, and the push rod motor can realize the driving of head rotation through the extension and the contraction of the push rod.

When the push rod of the push rod motor extends to push the head to rotate, the space occupied by the push rod is larger, so that the robot occupies larger space, and the movable space of the robot is limited. Therefore, the space occupied by the robot when the head of the robot rotates is reduced, and the method is still an important subject for continuously solving the technical field of the robot.

Disclosure of Invention

In view of the foregoing, it is necessary to provide a neck mechanism and a robot, in which the movement of the neck mechanism is achieved by the operation of the output shaft of the driving assembly and the belt transmission of the timing belt, so as to drive the movement of the robot head mechanism, thereby reducing the occupied space of the robot and reducing the restriction on the movable space of the robot.

In a first aspect, embodiments of the present application provide a neck mechanism for use with a robot, the neck mechanism comprising: the bearing frame comprises a bearing part, an extension rod and a positioning seat, wherein the extension rod is convexly arranged on one side of the bearing part, the positioning seat is arranged on the extension rod and is arranged at intervals with the bearing part, and the bearing part is used for being connected with a trunk part mechanism of the robot; the driving shaft penetrates through the bearing part and the positioning seat and is rotationally connected with the bearing part; the first connecting seat is connected to one end of the driving shaft and is positioned at one side of the bearing part, which is away from the extension rod; the first driving assembly comprises a first motor, a first synchronous belt, a first belt wheel and a second belt wheel, wherein the first motor is arranged on one side, deviating from the first connecting seat, of the bearing part, the first motor is arranged at intervals with the driving shaft, the first belt wheel is arranged on an output shaft of the first motor, the second belt wheel is arranged on the driving shaft, the first synchronous belt is wound on the first belt wheel and the second belt wheel, and the first motor is used for driving the first belt wheel to rotate so as to drive the first connecting seat to rotate.

Optionally, the bearing frame is provided with at least one first limiting part, and at least one first limiting part is used for abutting with the first connecting seat when the first connecting seat rotates to a first angle so as to limit the rotation of the first connecting seat.

Optionally, the bearing frame further comprises two first limiting parts, the two first limiting parts are respectively arranged on two sides of the bearing part in a protruding mode, the extending direction of the first limiting part is perpendicular to the axial direction of the driving shaft, and the first limiting part is arranged on the first limiting parts.

Optionally, the first connecting seat includes first connecting portion and two first extension, first connecting portion is located the carrier part deviates from the one side of extension pole, first extension is located first connecting portion deviates from the one side of carrier, two first extension interval sets up, neck mechanism still includes: the second connecting seat comprises a second connecting part and two second extending parts, the second extending parts are convexly arranged on one side, close to the first connecting part, of the second connecting part, the two second extending parts are arranged at intervals, the two first extending parts are positioned between the two second extending parts, and the second extending parts are rotationally connected with the first extending parts; the second driving assembly comprises a second motor, a second synchronous belt, a third belt wheel and a fourth belt wheel, wherein the second motor is arranged on one side, deviating from the bearing frame, of the first connecting portion, the second motor is arranged on one side, deviating from the other side, deviating from the first extending portion, of the first extending portion, the third belt wheel is arranged on an output shaft of the second motor, the fourth belt wheel is arranged between the two first extending portions and is rotationally connected with at least one first extending portion, the second extending portion is used for synchronously rotating along with the fourth belt wheel, the second synchronous belt is wound on the third belt wheel and the fourth belt wheel, and the second motor is used for driving the third belt wheel to rotate so as to drive the second connecting seat to rotate.

Optionally, the first connecting seat is provided with at least one second limiting part, and at least one second limiting part is used for being abutted with the second connecting seat when the second connecting seat rotates to a second angle so as to limit the rotation of the second connecting seat.

Optionally, the first connecting seat further includes two second limiting parts, the two second limiting parts are respectively protruding to be arranged at two sides of the first extending part, the extending direction of the second limiting part is perpendicular to the axial direction of the driving shaft and perpendicular to the rotation center shaft of the second connecting seat, and the second limiting part is arranged on the second limiting parts.

Optionally, the second connecting seat further includes kink and two third extension, the third extension set up in the second connecting portion deviates from one side of first connecting seat, two the third extension interval sets up, the kink set up in the second connecting portion two one side in second extension interval direction, neck mechanism still includes: the third connecting seat comprises a third connecting part and two fourth extending parts, the fourth extending parts are convexly arranged on one side, facing the bearing frame, of the third connecting part, the two fourth extending parts are arranged at intervals, the two third extending parts are positioned between the two fourth extending parts, the fourth extending parts are rotationally connected with the third extending parts, and the third connecting seat is used for being connected with a head mechanism of the robot; the third driving assembly comprises a third motor, a third synchronous belt, a fifth belt wheel and a sixth belt wheel, wherein the third motor is arranged on the bending part, the fifth belt wheel is arranged on an output shaft of the second motor, the sixth belt wheel is positioned between the two fourth extension parts and is rotationally connected with at least one third extension part, the fourth extension part is used for synchronously rotating along with the sixth belt wheel, the third synchronous belt is wound on the fifth belt wheel and the sixth belt wheel, and the third motor is used for driving the fifth belt wheel to rotate so as to drive the third connecting seat to rotate.

Optionally, the second connecting seat further includes two third limiting parts, two third limiting parts are respectively protruding to be located on the two third extending parts, just the direction that the third limiting parts extend is perpendicular to the rotation direction of third connecting seat and the axial of drive shaft, be provided with the third locating part on the third limiting part, the third locating part be used for when the third connecting seat rotates to the third angle with third connecting seat butt, in order to restrict the rotation of third connecting seat.

Optionally, the rotation central axis of the first connecting seat and the rotation central axis of the second connecting seat are both intersected with the rotation central axis of the third connecting seat.

In a second aspect, embodiments of the present application provide a robot, including: a neck mechanism as claimed in any one of the preceding claims; a head mechanism connected to one side of the neck mechanism; a trunk mechanism connected to the other side of the neck mechanism; wherein the head mechanism generates relative motion with the torso mechanism in response to actuation of the neck mechanism.

Through the neck mechanism and the robot that this application provided, can drive the relative trunk portion mechanism rotation of head mechanism through the neck mechanism that forms by motor and belt drive mechanism to replace traditional push rod structure, thereby reduce the space that the robot occupy when head mechanism moves, reduce the restriction to the movable space of robot.

Drawings

Fig. 1 is a system schematic diagram of a robot in an embodiment of the present application.

Fig. 2 is a schematic structural view of a mechanical structure in an embodiment of the present application.

Fig. 3 is a schematic view of the structure of the neck mechanism in the embodiment of the present application.

Fig. 4 is another schematic structural view of the neck mechanism in an embodiment of the present application.

Fig. 5 is a partial schematic view of the neck mechanism in an embodiment of the present application.

Fig. 6 is another partial schematic view of the neck mechanism in an embodiment of the present application.

Fig. 7 is another partial schematic view of the neck mechanism in an embodiment of the present application.

Description of the main reference signs

Robot 100

Mechanical unit 101

Driving plate 1011

Motor 1012

Mechanical structure 1013

Body mechanism 1014

Head mechanism 1015

Neck mechanism 1016

Leg 1017

Foot 1018

Tail structure 1019

Carrying structure 1020

Saddle structure 1021

Communication unit 102

Sensing unit 103

Interface unit 104

Storage unit 105

Display unit 106

Display panel 1061

Input unit 107

Touch panel 1071

Input device 1072

Touch inspection device 1073

Touch controller 1074

Control module 110

Power supply 111

Carrier 10

The bearing part 11

Extension rod 12

Positioning seat 13

Opening 131

First limit part 14

First limiting member 15

Drive shaft 20

First connecting seat 30

First connecting portion 31

First extension 32

Second limit part 33

Second limiting member 34

First drive assembly 40

First motor 41

First timing belt 42

First pulley 43

Second pulley 44

Second connecting seat 50

Second connecting portion 51

Second extension 52

Third extension 53

Third limit part 54

Third limiting member 55

Notch 56

Bending portion 57

Second drive assembly 60

Second motor 61

Second timing belt 62

Third pulley 63

Fourth pulley 64

Third connecting seat 70

Third connecting portion 71

Fourth extension 72

Third drive assembly 80

Third motor 81

Third timing belt 82

Fifth pulley 83

Sixth pulley 84

Detailed Description

The technical solutions in the implementation manner of the present application will be clearly and completely described below with reference to the drawings in the implementation manner of the present application, and it is obvious that the described implementation manner is only a part of the implementation manner of the present application, not all the implementation manners.

In the following description, suffixes such as "module", "component", or "unit" for representing components are used only for facilitating the description of the present application, and are not of specific significance per se. Thus, "module," "component," or "unit" may be used in combination.

Referring to fig. 1, fig. 1 is a schematic hardware configuration of a robot 100 according to one embodiment of the present application. In the embodiment shown in fig. 1, the robot 100 may include a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a display unit 106, an input unit 107, a control module 110, and a power source 111. The various components of the robot 100 may be connected in any manner, including wired or wireless connections, and the like. It will be appreciated by those skilled in the art that the particular configuration of the robot 100 shown in fig. 1 does not constitute a limitation of the robot 100, and that the robot 100 may include more or less components than illustrated, that certain components do not necessarily constitute the robot 100, that certain components may be omitted entirely, or that certain components may be combined as desired within a range that does not alter the nature of the application.

Referring to fig. 2, the following details of the components of the robot 100 are described with reference to fig. 2:

the machine unit 101 is hardware of the robot 100. As shown in fig. 1, machine unit 101 may include a drive plate 1011, a motor 1012, and a machine 1013, as shown in fig. 2, machine 1013 may include a torso mechanism 1014, a head mechanism 1015, and a neck mechanism 1016 connected between torso mechanism 1014 and head mechanism 1015. In other embodiments, the mechanical structure 1013 may also include extendable legs 1017, feet 1018, extendable robotic arms (not shown), a swingable tail structure 1019, a carrying structure 1020, a saddle structure 1021, and the like. It should be noted that, the number of the component modules of the machine unit 101 may be one or plural, and may be set according to the specific situation, for example, the number of the legs 1017 may be four, each leg 1017 may be configured with three motors 1012, and the number of the corresponding motors 1012 may be twelve.

In embodiments of the present application, head mechanism 1015 may effect relative movement with torso mechanism 1014 in response to actuation of neck mechanism 1016.

The communication unit 102 may be used for receiving and transmitting signals, or may be used for communicating with a network and other devices, for example, receiving command information sent by the remote controller or other robots 100 to move in a specific direction with a specific speed value according to a specific gait, and then transmitting the command information to the control module 110 for processing. The communication unit 102 may include, for example, a WiFi module, a 4G module, a 5G module, a bluetooth module, an infrared module, etc.

The sensing unit 103 is used for acquiring information data of the surrounding environment of the robot 100 and parameter data of each component in the monitoring robot 100, and sending the information data to the control module 110. The sensing unit 103 may include various sensors, such as a sensor that acquires surrounding information: lidar (for remote object detection, distance determination and/or speed value determination), millimeter wave radar (for short range object detection, distance determination and/or speed value determination), cameras, infrared cameras, global navigation satellite systems (GNSS, global Navigation Satellite System), etc. Such as sensors that monitor various components within the robot 100: an inertial measurement unit (IMU, inertial Measurement Unit) (values for measuring velocity values, acceleration values and angular velocity values), plantar sensors (for monitoring plantar force point position, plantar posture, touchdown force magnitude and direction), temperature sensors (for detecting component temperature). As for other sensors such as a load sensor, a touch sensor, a motor angle sensor, a torque sensor, etc. that may be further configured for the robot 100, the description thereof will be omitted.

The interface unit 104 may be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more components within the robot 100, or may be used to output (e.g., data information, power, etc.) to an external device. The interface unit 104 may include a power port, a data port (e.g., a USB port), a memory card port, a port for connecting devices having identification modules, an audio input/output (I/O) port, a video I/O port, and the like.

The storage unit 105 is used to store a software program and various data. The storage unit 105 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system program, a motion control program, an application program (such as a text editor), and the like; the data storage area may store data generated by the robot 100 in use (such as various sensing data acquired by the sensing unit 103, log file data), and the like. In addition, the storage unit 105 may include high-speed random access memory, and may also include nonvolatile memory, such as disk memory, flash memory, or other volatile solid state memory.

The display unit 106 is used to display information input by a user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a liquid crystal display (Liquid Crystal Display, LCD), an Organic Light-Emitting Diode (OLED), or the like.

The input unit 107 may be used to receive input numeric or character information. In particular, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect touch operations of a user (e.g., operations of the user on the touch panel 1071 or in the vicinity of the touch panel 1071 using a palm, a finger, or a suitable accessory), and drive the corresponding connection device according to a preset program. The touch panel 1071 may include a touch inspection device 1073 and a touch controller 1074. The touch inspection device 1073 detects the touch orientation of the user, detects a signal caused by the touch operation, and transmits the signal to the touch controller 1074; the touch controller 1074 receives touch information from the touch inspection device 1073, converts it into touch point coordinates, and sends the touch point coordinates to the control module 110, and can receive and execute commands sent from the control module 110. The input unit 107 may include other input devices 1072 in addition to the touch panel 1071. In particular, other input devices 1072 may include, but are not limited to, one or more of a remote control handle or the like, as is not limited herein.

Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or thereabout, the touch operation is transmitted to the control module 110 to determine the type of touch event, and then the control module 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in fig. 1, the touch panel 1071 and the display panel 1061 are two independent components to implement the input and output functions, in some embodiments, the touch panel 1071 may be integrated with the display panel 1061 to implement the input and output functions, which is not limited herein.

The control module 110 is a control center of the robot 100, connects various components of the entire robot 100 using various interfaces and lines, and performs overall control of the robot 100 by running or executing a software program stored in the storage unit 105 and calling data stored in the storage unit 105.

The power supply 111 is used to supply power to the various components, and the power supply 111 may include a battery (not shown) and a power control board (not shown) for controlling functions of battery charging, discharging, and power consumption management. In the embodiment shown in fig. 1, the power source 111 is electrically connected to the control module 110, and in other embodiments, the power source 111 may be electrically connected to the sensing unit 103 (such as a camera, a radar, a speaker, etc.), and the motor 1012, respectively. It should be noted that each component may be connected to a different power source 111, or may be powered by the same power source 111.

On the basis of the above-described embodiments, specifically, in some embodiments, the communication connection with the robot 100 may be performed through a terminal device, instruction information may be transmitted to the robot 100 through the terminal device when the terminal device communicates with the robot 100, the robot 100 may receive the instruction information through the communication unit 102, and the instruction information may be transmitted to the control module 110 in case of receiving the instruction information, so that the control module 110 may process to obtain the target speed value according to the instruction information. Terminal devices include, but are not limited to: a mobile phone, a tablet personal computer, a server, a personal computer, a wearable intelligent device and other electrical equipment with an image shooting function.

The instruction information may be determined according to preset conditions. In one embodiment, the robot 100 may include a sensing unit 103, and the sensing unit 103 may generate instruction information according to the current environment in which the robot 100 is located. The control module 110 may determine whether the current speed value of the robot 100 meets the corresponding preset condition according to the instruction information. If so, maintaining the current speed value and current gait movement of the robot 100; if not, the target speed value and the corresponding target gait are determined according to the corresponding preset conditions, so that the robot 100 can be controlled to move at the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, a barometric pressure sensor, a visual sensor, an acoustic sensor. The instruction information may include temperature information, air pressure information, image information, sound information. The communication mode between the environment sensor and the control module 110 may be wired communication or wireless communication. Means of wireless communication include, but are not limited to: wireless networks, mobile communication networks (3G, 4G, 5G, etc.), bluetooth, infrared.

Referring to fig. 3 and 4 together, fig. 3 and 4 illustrate a neck mechanism 1016 provided in accordance with one embodiment of the present application. The neck mechanism 1016 may include a carrier 10, a drive shaft 20, a first coupling seat 30, and a first drive assembly 40.

The carrier 10 may include a carrier portion 11, an extension pole 12, and a positioning seat 13. The carrying portion 11 is fixedly connected to the trunk mechanism 1014 or the head mechanism 1015. The extension rod 12 is protruded at one side of the carrying part 11. The positioning seat 13 is fixedly connected to the extension rod 12, and the positioning seat 13 and the bearing part 11 are arranged at intervals. In the embodiment of the present application, the number of the extension rods 12 is not particularly limited. For example, two extension bars 12 may be provided on one side of the carrying portion 11, the two extension bars 12 may be provided at intervals, and the positioning seat 13 may be fixed to one end of the two extension bars 12 away from the carrying portion 11.

In the embodiment of the present application, the shape of the bearing portion 11 is not particularly limited. For example, the carrier 11 may be a plate body having a cross section that is approximately rectangular. The extension rod 12 is protruded on one surface of the carrying portion 11.

In the embodiments of the present application, the fixing manner of the fixing connection and the fixing installation is not particularly limited. For example, the fixing means may include, but is not limited to, welding fixing, integrally formed fixing, screw fixing, key connection fixing, and the like.

In the present embodiment, the driving shaft 20 penetrates the carrying portion 11, and the driving shaft 20 penetrates the carrying portion 11. The driving shaft 20 is disposed at a distance from the extension rod 12, and the longitudinal direction of the driving shaft 20 is the same as the longitudinal direction of the extension rod 12. The drive shaft 20 can be rotatably connected to the carrier 11.

It can be appreciated that the positioning seat 13 can support the shaft body of the driving shaft 20, so as to improve the smoothness of rotation of the driving shaft 20 and the stability of the driving shaft 20.

In some scenarios, the drive shaft 20 may be rotatably coupled to the positioning socket 13. In other cases, the positioning seat 13 is provided with an opening 131 for the driving shaft 20 to pass through, and a space exists between the driving shaft 20 and the inner wall of the opening 131.

It is understood that the rotational connection may be a connection made by a rotational connection that may include, but is not limited to, a shaft, bearing, coupling, hinge, etc.

In this embodiment, the first connecting seat 30 is spaced from the bearing portion 11, and the spacing direction of the first connecting seat 30 and the bearing portion 11 is the same as the length direction of the driving shaft 20. One end of the driving shaft 20 is fixedly connected with the first connecting seat 30. When the driving shaft 20 rotates, the first connecting seat 30 rotates synchronously with the driving shaft 20. The first connecting seat 30 may be directly or indirectly connected to the body mechanism 1014 or the head mechanism 1015.

It will be appreciated that one of the trunk mechanism 1014 and the head mechanism 1015 is fixedly connected to the carrying portion 11, and the other is directly or indirectly connected to the first connecting seat 30.

In this embodiment, the first driving assembly 40 may include a first motor 41, a first timing belt 42, a first pulley 43, and a second pulley 44. The first motor 41 is fixedly installed on one side of the bearing portion 11 far away from the first connecting seat 30, and the first motor 41, the driving shaft 20, the connecting shaft 12 and the positioning seat 13 are all arranged at intervals. The output shaft of the first motor 41 is parallel to the drive shaft 20. The output shaft of the first motor 41 extends in a direction away from the first coupling seat 30. The first pulley 43 is fixed coaxially with the output shaft of the first motor 41. The second pulley 44 is coaxially fixed with an end of the drive shaft 20 remote from the first coupling seat 30. The first timing belt 42 is wound around a first pulley 43 and a second pulley 44. When the first motor 41 is operated, the output shaft of the first motor 41 rotates to drive the first pulley 43 to rotate. When the first pulley 43 rotates, the belt transmission of the first synchronous belt 42 can drive the second pulley 44 to synchronously rotate, so as to drive the driving shaft 20 and the first connecting seat 30 to synchronously rotate.

For example, the driving shaft 20 may be connected to the bearing portion 11 by a connection key (not shown), and the connection key may be fixedly connected to the bearing portion 11 and the driving shaft 20 by a jackscrew (not shown) penetrating through the bearing portion 11, the connection key and the driving shaft 20, so as to fixedly connect the driving shaft 20 and the bearing portion 11.

In one scenario, when the bearing portion 11 is fixedly connected to the trunk mechanism 1014 and the first connecting seat 30 is directly or indirectly connected to the head mechanism 1015, the first motor 41 may be operated to drive the first connecting seat 30 to rotate relative to the bearing portion 11, so as to drive the head mechanism 1015 to rotate relative to the trunk mechanism 1014. In another scenario, when the bearing portion 11 is fixedly connected to the head mechanism 1015 and the first connecting seat 30 is directly or indirectly connected to the body mechanism 1014, the first motor 41 may be operated to drive the first connecting seat 30 to rotate relative to the bearing portion 11, so as to drive the head mechanism 1015 to rotate relative to the body mechanism 1014.

It will be appreciated that when the first motor 41 drives the first connecting seat 30 to rotate, the first connecting seat 30 can rotate around the rotation center axis of the driving shaft 20, i.e. the head mechanism 1015 rotates around the rotation center axis of the driving shaft 20 and the body mechanism 1014.

It will be appreciated that the assembly formed by combining the motor and the belt transmission mechanism replaces the push rod mechanism in the related art, so that the head mechanism 1015 can rotate relative to the body mechanism 1014, and at the same time, the space occupied by the robot 100 when the head mechanism 1015 rotates can be reduced, and the restriction on the movable space of the robot 100 can be reduced.

Referring to fig. 5, in some embodiments, the carrier 10 further includes two first limiting portions 14. The two first limiting portions 14 are respectively formed by extending from two opposite sides of the bearing portion 11. The opposite direction of the two first limiting portions 14 is the same as the radial direction of the driving shaft 20. The radial direction is the direction in which the diameter of the circular shaft or the cylindrical object is located.

The first limiting part 14 is fixedly provided with a first limiting piece 15. The first limiting member 15 is installed at one side of the first limiting portion 14 near the first connection seat 30. The first limiting member 15 is configured to abut against the first connecting seat 30 when the first connecting seat 30 rotates to a predetermined first angle, so as to limit the continuous movement of the first connecting seat 30.

It will be appreciated that the first stop 15 may be a resilient member. When the first limiting member 15 abuts against the first connecting seat 30, the first limiting member 15 can buffer the impact force of the first connecting seat 30 through elasticity, so that the probability of damage to the first connecting seat 30 caused by the relative acting force between the first limiting member 15 and the first connecting seat 30 when the first limiting member 15 abuts against the first connecting seat 30 is reduced. The material of the first limiting member 15 may be, but not limited to, a silicone material, a plastic material, etc.

It will be appreciated that at least one first stop member 15 is mounted on each first stop portion 14. In the embodiment of the present application, the number of the first stoppers 15 mounted on the first stopper portion 14 is not particularly limited.

In the embodiments of the present application, the numerical value of the first angle is not particularly limited. For example, the first angle may be 30 ° and-30 °, i.e., when the first connection holder 30 is rotated 30 ° clockwise or counterclockwise from the preset state, the first connection holder 30 abuts against the first stopper 15.

In some embodiments, the first connection socket 30 may include a first connection portion 31 and two first extension portions 32. The first connecting portion 31 is fixedly connected to one end of the driving shaft 20, and the first connecting portion 31 is disposed at an interval from the bearing portion 11. The first connection portion 31 is configured to abut against the first limiting member 15 when rotated to a predetermined first angle. The first extension portion 32 is protruding from a side of the first connection portion 31 away from the carrying portion 11. The two first extensions 32 are spaced apart.

Referring also to fig. 6, in some embodiments, the neck mechanism 1016 may further comprise a second coupling seat 50 and a second drive assembly 60. The second connecting seat 50 is used for directly or indirectly connecting with the head mechanism 1015 or the body mechanism 1014. The second connection seat 50 includes a second connection portion 51 and two second extension portions 52. The second connection portion 51 is located at a side of the first extension portion 32 away from the second connection portion 51. The second extension portion 52 is protruding from the second connection portion 51 toward the first connection portion 31. The two second extending portions 52 are disposed at intervals, and the two first extending portions 32 at least partially enter the interval space formed by the two second extending portions 52.

The second drive assembly 60 may include a second motor 61, a second timing belt 62, a third pulley 63, and a fourth pulley 64. The second motor 61 is fixedly installed at a side of the first connection part 31 remote from the bearing part 11. The length direction of the output shaft of the second motor 61 is the same as the opposite direction of the two second extending portions 52. The third pulley 63 is fixed coaxially with the output shaft of the second motor 61. The fourth pulley 64 is located between the two first extensions 32 and is rotatably connected to at least one of the first extensions 32 by a rotational connection. Meanwhile, the rotary connecting piece connected to the fourth pulley 64 is fixedly connected to the at least one second extension portion 52, so that the fourth pulley 64 is fixedly connected to the at least one second extension portion 52, i.e., the fourth pulley 64 is fixedly connected to the second connecting seat 50. The second timing belt 62 is wound around the third pulley 63 and the fourth pulley 64. When the output shaft of the second motor 61 rotates, the third pulley 63 can be driven to rotate. When the third belt pulley 63 rotates, the belt transmission of the second synchronous belt 62 can drive the fourth belt pulley 64 to synchronously rotate, so as to drive the second connecting seat 50 to synchronously rotate.

For example, the rotational coupling to the fourth pulley 64 may be a shaft having a mounting at least one end, the rotational coupling being rotatable relative to the first extension. Meanwhile, the rotary connection member may be fixedly connected to the fourth pulley 64 by a connection key (not shown), and the mounting seat of the rotary connection member may be fixedly connected to the at least one second extension 52 by a jackscrew, thereby fixedly connecting the fourth pulley 64 to the at least one second extension 52. At the same time, the rotational connection may be achieved by the rotational connection of the second extension 52 with the first extension 32, i.e. by the rotational connection of the second connection socket 50 with the first connection socket 30.

It will be appreciated that the axial direction of the fourth pulley 64, the axial direction of the third pulley 63 and the axial direction of the output shaft of the second motor 61 are the same and all intersect the axial direction of the drive shaft 20. The rotation center axis of the second connecting seat 50 when the second connecting seat 50 rotates relative to the first connecting seat 30 intersects with the rotation center axis of the first connecting seat 30 when the first connecting seat 30 rotates relative to the carrier 10.

It will be appreciated that one of the trunk mechanism 1014 and the head mechanism 1015 is fixedly connected to the carrying portion 11, and the other is directly or indirectly connected to the second connecting seat 50. The direct or indirect connection of the torso mechanism 1014 or the head mechanism 1015 with the second connecting mount 50 may enable the indirect connection of the first connecting mount 30 with the torso mechanism 1014 or the head mechanism 1015.

It will be appreciated that by the first drive assembly 40 and the second drive assembly 60, the neck mechanism 1016 may enable rotation of the head mechanism 1015 in two directions, increasing the flexibility of relative rotation of the head mechanism 1015 and the torso mechanism 1014, and increasing the flexibility of movement of the robot 100.

In some embodiments, the first connecting seat 30 further includes two second limiting portions 33. The two second limiting portions 33 are respectively protruded on the two first extending portions 32. The extending directions of the two second limiting portions 33 are perpendicular to the rotation center axis of the first connecting seat 30 and the rotation center axis of the second connecting seat 50, and the extending directions of the two second limiting portions 33 are opposite.

The second limiting part 33 is fixedly provided with a second limiting member 34. The second stopper 34 is mounted on a side of the second stopper 33 remote from the fourth pulley 64. The second limiting member 34 is configured to abut against the second connecting seat 50 when the second connecting seat 50 rotates to a predetermined second angle, so as to limit the second connecting seat 50 from moving continuously.

It will be appreciated that the second stop 34 may be a resilient member. When the second limiting member 34 abuts against the second connecting seat 50, the second limiting member 34 can buffer the impact force of the second connecting seat 50 through its own elasticity, so as to reduce the probability of damage to the second connecting seat 50 caused by the opposite force between the second connecting seat 50 and the second limiting member 34 when the second limiting member 34 abuts against the second connecting seat 50. The material of the second limiting member 34 may be, but is not limited to, a silicone material, a plastic material, etc.

It will be appreciated that at least one second stop 34 is mounted on each second stop 33. In the embodiment of the present application, the number of the second stoppers 34 mounted on the second stopper 33 is not particularly limited.

In the embodiments of the present application, the numerical value of the second angle is not particularly limited. For example, the second angle may be 30 ° and-30 °, i.e., when the second connection holder 50 is rotated 30 ° clockwise or counterclockwise from the preset state, the second connection holder 50 abuts the second stopper 34.

In some embodiments, the second connection socket 50 may further include two third extensions 53. The two third extending portions 53 are protruding on one side of the second connecting portion 51 away from the second extending portion 52, and the two third extending portions 53 are disposed at intervals. The direction in which the two third extension portions 53 are opposed is perpendicular to the direction in which the two second extension portions 52 are opposed. The second connection holder 50 may further include a bent portion 57. A notch 56 is formed at one side of the second connecting portion 51. The bending part 57 is fixed at the inner wall of the connecting notch 56, and the bending part 57 protrudes out of one surface of the second connecting part 51 facing the first connecting part 31. The bending portion 57 and the two second extending portions 52 are disposed at intervals.

It will be appreciated that the notch 56 may be located on either side of the two second extension portions 52 in the direction of the separation, i.e. the bent portion 57 may be located on one side of the second connection portion 51 in the direction of the separation of the two second extension portions 52. For example, the second connecting portion 51 may be a rectangular plate, and the notch 56 may be formed at a corner of the second connecting portion 51.

In the embodiment of the present application, the shape of the bent portion 57 is specifically limited. For example, the bending portion 57 may have an "L" shape, that is, the bending portion 57 includes at least one plate body formed by extending from a side of the second connecting portion 51 where the second extending portion 52 is disposed, and another plate body formed by extending at an end of the plate body away from the second connecting portion 51 along a direction opposite to the two second extending portions 52.

Referring also to fig. 7, in some embodiments, the neck mechanism 1016 may further include a third coupling seat 70 and a third drive assembly 80. The third connection seat 70 may include a third connection portion 71 and two fourth extension portions 72. The third connection portion 71 may be disposed at a distance from the second connection portion 51, and the third connection portion 71 is used for fixedly connecting with the head mechanism 1015 or the trunk mechanism 1014. The two fourth extension portions 72 are protruding from one side of the third connection portion 71 away from the second connection portion 51, and the two fourth extension portions 72 are disposed at intervals. The two third extensions 53 are located between the two fourth extensions 72. The at least one fourth extension 72 is rotatably connected to the at least one third extension 53.

The third drive assembly 80 may include a third motor 81, a third timing belt 82, a fifth pulley 83, and a sixth pulley 84. The third motor 81 is fixedly mounted on the bent portion 57. The length direction of the output shaft of the third motor 81 and the two third extension portions 53; the opposite directions of the two fourth extension portions 72 are the same. The fifth pulley 83 is fixed coaxially with the output shaft of the third motor 81. The sixth pulley 84 is located between the two third extensions 53 and is rotatably connected to at least one third extension 53 by a rotational connection. Meanwhile, the rotary connection member connected to the sixth pulley 84 is fixedly connected to the at least one fourth extension 72, thereby achieving a fixed connection of the sixth pulley 84 to the at least one fourth extension 72, i.e. a fixed connection of the sixth pulley 84 to the third connection seat 70. The third timing belt 82 is wound around the fifth pulley 83 and the sixth pulley 84. When the output shaft of the third motor 81 rotates, the fifth pulley 83 can be driven to rotate. When the fifth belt pulley 83 rotates, the belt transmission of the third synchronous belt 82 can drive the sixth belt pulley 84 to synchronously rotate, so as to drive the third connecting seat 70 to synchronously rotate.

The principle of the sixth pulley 84 being rotationally connected to the third extension portion 53 and being fixedly connected to the fourth extension portion 72 by a rotational connection member is the same as or similar to the principle of the fourth pulley 64 being rotationally connected to the first extension portion 32 and being fixedly connected to the second extension portion 52, and will not be described herein.

It will be appreciated that the axial direction of the sixth pulley 84, the axial direction of the fifth pulley 83, and the axial direction of the output shaft of the third motor 81 are the same, and each intersect the axial direction of the drive shaft 20, the axial direction of the fourth pulley 64. The third connecting seat 70 and the second connecting seat 50 have a rotation center axis which rotates relatively, the second connecting seat 50 has a rotation center axis which rotates relatively to the first connecting seat 30 when the second connecting seat 50 rotates relatively to the first connecting seat 30, and the first connecting seat 30 intersects with the rotation center axis of the first connecting seat 30 when the first connecting seat 30 rotates relative to the carrier 10. In this way, the stability of the neck structure can be improved, the probability of mutual influence of the rotation of the first connecting seat 30, the second connecting seat 50 and the third connecting seat 70 can be reduced, and the working smoothness of the neck mechanism 1016 can be improved.

It will be appreciated that the fixed connection of the torso mechanism 1014 or the head mechanism 1015 to the third connecting socket 70 may enable an indirect connection of the first connecting socket 30 to the torso mechanism 1014 or the head mechanism 1015, and an indirect connection of the second connecting socket 50 to the torso mechanism 1014 or the head mechanism 1015.

It will be appreciated that, by the first drive assembly 40, the second drive assembly 60, and the third drive assembly 80, the neck mechanism 1016 may enable the head mechanism 1015 to rotate in three directions, thereby improving the flexibility of relative rotation between the head mechanism 1015 and the torso mechanism 1014 and improving the flexibility of movement of the robot 100.

In some embodiments, the second connecting seat 50 further includes two third limiting portions 54. The two third limiting portions 54 are respectively protruded on the two third extending portions 53. The extending directions of the two third limiting portions 54 are perpendicular to the rotation center axis of the third connecting seat 70 and the rotation center axis of the first connecting seat 30, and the extending directions of the two third limiting portions 54 are opposite.

A third stopper 55 is fixedly mounted on the third stopper 54. The third stopper 55 is mounted on a side of the third stopper 54 remote from the sixth pulley 84. The third limiting member 55 is configured to abut against the third connecting seat 70 when the third connecting seat 70 rotates to a preset third angle, so as to limit the continued movement of the third connecting seat 70.

It is understood that the third stopper 55 may be a member having elasticity. When the third limiting member 55 abuts against the third connecting seat 70, the third limiting member 55 can buffer the impact force of the third connecting seat 70 through its own elasticity, so as to reduce the probability of damaging the third connecting seat 70 due to the relative force between the third connecting seat 70 and the third limiting member 55 when the third limiting member 55 abuts against the third connecting seat 70. The material of the third limiting member 55 may be, but is not limited to, a silicone material, a plastic material, etc.

It will be appreciated that at least one third stop member 55 is mounted on each third stop 54. In the embodiment of the present application, the number of the third stopper 55 to be mounted on the third stopper 54 is not particularly limited.

In the embodiments of the present application, the numerical value of the third angle is not particularly limited. For example, the third angle may be 30 ° and-30 °, i.e., when the third connection seat 70 is rotated 30 ° clockwise or counterclockwise from the preset state, the third connection seat 70 abuts against the third stopper 55.

In some embodiments, the neck mechanism 1016 may further comprise a housing (not shown) within which the carrier 10, the drive shaft 20, the first coupling mount 30, the first drive assembly 40, the second coupling mount 50, the second drive assembly 60, the third coupling mount 70, and the third drive assembly 80 may be housed.

In the robot 100 provided in the embodiment of the present application, the head mechanism 1015 may move relative to the trunk mechanism 1014 by being driven by the neck mechanism 1016. When the neck mechanism 1016 drives the head mechanism 1015 to move, and the first motor 41 is operated, the first motor 41 drives the first connection base 30 to rotate through a belt transmission mechanism formed by the first timing belt 42, the first pulley 43 and the second pulley 44, so that the head mechanism 1015 can rotate in the first rotation direction. When the neck mechanism 1016 drives the head mechanism 1015 to move, and the second motor 61 is operated, the second motor 61 drives the second connection base 50 to rotate through the belt transmission mechanism formed by the second timing belt 62, the third pulley 63 and the fourth pulley 64, so that the head mechanism 1015 can rotate in the second rotation direction. When the neck mechanism 1016 drives the head mechanism 1015 to move, and the third motor 81 is operated, the third motor 81 drives the third coupling seat 70 to rotate through a belt transmission mechanism formed by the third timing belt 82, the fifth pulley 83 and the sixth pulley 84, so that the head mechanism 1015 can rotate in the third rotation direction.

In the robot 100 provided by the application, the neck mechanism 1016 formed by a plurality of motors and the belt transmission mechanism drives the head mechanism 1015 to rotate, so that the occupied space of the head mechanism 1015 during rotation can be saved, namely, the occupied space of the robot 100 during movement is reduced, and the restriction on the movable space of the robot 100 can be reduced. At the same time, the neck mechanism 1016 may enable the head mechanism 1015 to be driven to rotate in multiple directions, which may increase flexibility of movement of the robot 100, and thus increase flexibility of movement of the robot 100.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A neck mechanism for use with a robot, the neck mechanism comprising:

the bearing frame comprises a bearing part, an extension rod and a positioning seat, wherein the extension rod is convexly arranged on one side of the bearing part, the positioning seat is arranged on the extension rod and is arranged at intervals with the bearing part, and the bearing part is used for being connected with a trunk part mechanism of the robot;

The driving shaft penetrates through the bearing part and the positioning seat and is rotationally connected with the bearing part;

the first connecting seat is connected to one end of the driving shaft and is positioned at one side of the bearing part, which is away from the extension rod;

the first driving assembly comprises a first motor, a first synchronous belt, a first belt wheel and a second belt wheel, wherein the first motor is arranged on one side, deviating from the first connecting seat, of the bearing part, the first motor is arranged at intervals with the driving shaft, the first belt wheel is arranged on an output shaft of the first motor, the second belt wheel is arranged on the driving shaft, the first synchronous belt is wound on the first belt wheel and the second belt wheel, and the first motor is used for driving the first belt wheel to rotate so as to drive the first connecting seat to rotate.

2. The neck mechanism of claim 1, wherein the carrier is provided with at least one first stop, at least one first stop being adapted to abut the first socket when the first socket is rotated to a first angle to limit rotation of the first socket.

3. The neck mechanism of claim 2, wherein the carrier further comprises two first limiting portions, the two first limiting portions are respectively protruded on two sides of the carrier, the extending direction of the first limiting member is perpendicular to the axial direction of the driving shaft, and the first limiting member is mounted on the first limiting portions.

4. Neck mechanism according to claim 1, wherein the first connection seat comprises a first connection portion and two first extension portions, the first connection portion being located on a side of the carrier portion facing away from the extension rod, the first extension portion being located on a side of the first connection portion facing away from the carrier, the two first extension portions being arranged at a distance, the neck mechanism further comprising:

the second connecting seat comprises a second connecting part and two second extending parts, the second extending parts are convexly arranged on one side, close to the first connecting part, of the second connecting part, the two second extending parts are arranged at intervals, the two first extending parts are positioned between the two second extending parts, and the second extending parts are rotationally connected with the first extending parts;

the second driving assembly comprises a second motor, a second synchronous belt, a third belt wheel and a fourth belt wheel, wherein the second motor is arranged on one side, deviating from the bearing frame, of the first connecting portion, the second motor is arranged on one side, deviating from the other side, deviating from the first extending portion, of the first extending portion, the third belt wheel is arranged on an output shaft of the second motor, the fourth belt wheel is arranged between the two first extending portions and is rotationally connected with at least one first extending portion, the second extending portion is used for synchronously rotating along with the fourth belt wheel, the second synchronous belt is wound on the third belt wheel and the fourth belt wheel, and the second motor is used for driving the third belt wheel to rotate so as to drive the second connecting seat to rotate.

5. The neck mechanism of claim 4, wherein at least one second stop is provided on the first coupling seat, the at least one second stop being adapted to abut the second coupling seat when the second coupling seat is rotated to a second angle to limit rotation of the second coupling seat.

6. The neck mechanism according to claim 5, wherein the first connecting seat further comprises two second limiting portions, the two second limiting portions are respectively protruded on two sides of the two first extending portions, the extending direction of the second limiting member is perpendicular to the axial direction of the driving shaft and perpendicular to the rotation center axis of the second connecting seat, and the second limiting member is mounted on the second limiting portions.

7. The neck mechanism of claim 6, wherein the second connecting seat further comprises a bending portion and two third extending portions, the third extending portions are disposed on a side of the second connecting portion facing away from the first connecting seat, the two third extending portions are disposed at intervals, the bending portion is disposed on a side of the second connecting portion in a direction of interval between the two second extending portions, and the neck mechanism further comprises:

The third connecting seat comprises a third connecting part and two fourth extending parts, the fourth extending parts are convexly arranged on one side, facing the bearing frame, of the third connecting part, the two fourth extending parts are arranged at intervals, the two third extending parts are positioned between the two fourth extending parts, the fourth extending parts are rotationally connected with the third extending parts, and the third connecting seat is used for being connected with a head mechanism of the robot;

the third driving assembly comprises a third motor, a third synchronous belt, a fifth belt wheel and a sixth belt wheel, wherein the third motor is arranged on the bending part, the fifth belt wheel is arranged on an output shaft of the second motor, the sixth belt wheel is positioned between the two fourth extension parts and is rotationally connected with at least one third extension part, the fourth extension part is used for synchronously rotating along with the sixth belt wheel, the third synchronous belt is wound on the fifth belt wheel and the sixth belt wheel, and the third motor is used for driving the fifth belt wheel to rotate so as to drive the third connecting seat to rotate.

8. The neck mechanism according to claim 7, wherein the second connecting seat further comprises two third limiting portions, the two third limiting portions are respectively protruded on the two third extending portions, the extending direction of the third limiting portions is perpendicular to the rotating direction of the third connecting seat and the axial direction of the driving shaft, and third limiting members are arranged on the third limiting portions and are used for being abutted with the third connecting seat when the third connecting seat rotates to a third angle so as to limit the rotation of the third connecting seat.

9. The neck mechanism of claim 7, wherein the central axis of rotation of the first coupling seat and the central axis of rotation of the second coupling seat each intersect the central axis of rotation of the third coupling seat.

10. A robot, comprising:

the neck mechanism of any one of claims 1 to 9;

a head mechanism connected to one side of the neck mechanism;

a trunk mechanism connected to the other side of the neck mechanism;

wherein the head mechanism generates relative motion with the torso mechanism in response to actuation of the neck mechanism.