CN114700930B

CN114700930B - Robot head structure and robot

Info

Publication number: CN114700930B
Application number: CN202210476343.XA
Authority: CN
Inventors: 张腾涛; 王佩; 黄诗轩; 梁冠棋; 李波; 唐宇佳; 张雨田; 陈志伟
Original assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Current assignee: Shenzhen Pengxing Intelligent Research Co Ltd
Priority date: 2022-04-29
Filing date: 2022-04-29
Publication date: 2023-12-26
Anticipated expiration: 2042-04-29
Also published as: CN114700930A

Abstract

The invention discloses a head structure for a robot and the robot, wherein the head structure comprises: a support base; the mounting platform is positioned above the supporting seat and is used for mounting the head body; the connecting rod mechanisms comprise a plurality of connecting rod mechanisms, each connecting rod mechanism is provided with a driving rod and a driven rod, the driving rod is connected with the supporting seat, and the driven rods are connected with the mounting platform; the first driving piece is arranged on the supporting seat and matched with the driving rod to drive the driving rod to move, and the driven rod is driven to move so that the head body on the mounting platform can do pitching motion and/or rolling motion. According to the robot head structure provided by the embodiment of the invention, the aim of controlling the head body to make various movement forms is fulfilled by arranging the plurality of connecting rod mechanisms, the flexibility of the movement of the robot head structure is improved, the whole structure is simple, the supporting seat is connected with the mounting platform through the connecting rod mechanisms, and the supporting rigidity of the robot head structure is improved.

Description

Robot head structure and robot

Technical Field

The invention relates to the technical field of robots, in particular to a robot head structure and a robot.

Background

In the related art, the existing robot head structure mostly has only two degrees of freedom of pitching and rotating, and the angle of pitching and rolling is small, so that the movement flexibility of the robot head structure is insufficient, and meanwhile, the movement of the head is realized by using the scheme of the holder support, so that the supporting rigidity of the head structure is small, and the difficulty of the production and assembly of the robot head structure is improved.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a robot head structure, which has a plurality of movement modes, strong flexibility of movement, easy operation, strong overall support strength of the head structure, and simple structure, and is convenient for production and assembly.

The invention further provides a robot.

The robot head structure according to the embodiment of the first aspect of the present invention includes: a support base; the mounting platform is positioned above the supporting seat and is used for mounting the head body; the connecting rod mechanisms comprise a plurality of connecting rod mechanisms, each connecting rod mechanism is provided with a driving rod and a driven rod, the driving rods are connected with the supporting seats, and the driven rods are connected with the mounting platform; the first driving piece is arranged on the supporting seat and matched with the driving rod to drive the driving rod to move, and the driven rod is driven to move so that the head body on the mounting platform can do pitching motion and/or rolling motion.

According to the robot head structure provided by the embodiment of the invention, the plurality of connecting rod mechanisms are arranged, the first driving piece drives the connecting rod mechanisms to move so as to drive the head body to pitch or roll, the purpose of controlling the head body to make various movement forms is achieved, the flexibility of the movement of the robot head structure is improved, the whole structure is simple, the supporting seat is connected with the mounting platform through the connecting rod mechanisms, the supporting rigidity of the robot head structure is improved, meanwhile, the connecting rod mechanisms can be mutually hinged, the kinematic pairs of the connecting points are all simple plane revolute pairs, the processing difficulty is reduced, and the manufacturing and the assembly of the robot head structure are facilitated. According to the robot head structure of the embodiment of the invention, the first driving member includes: the first end of the first telescopic rod is rotatably connected with the supporting seat, and the second end of the first telescopic rod is rotatably connected with a driving rod of the connecting rod mechanism; the first end of the second telescopic rod is rotatably connected with the supporting seat, and the second end of the second telescopic rod is rotatably connected with the driving rod of the other connecting rod mechanism.

In some examples, the axis of rotation of the first end of the first telescoping rod is perpendicular to the axis of rotation of the first end of the second telescoping rod, and the axis of rotation of the second end of the first telescoping rod is perpendicular to the axis of rotation of the second end of the second telescoping rod.

In some examples, the support base includes a base plate and a support column, the support column is disposed on the base plate, the first end of the first telescopic rod and the first end of the second telescopic rod are respectively matched with the base plate, and each driving rod of the link mechanism is respectively matched with the upper end of the support column.

In some examples, a plurality of the drive rods of the linkage are spaced apart along the circumference of the support post and a plurality of the driven rods of the linkage are spaced apart along the circumference of the mounting platform.

According to the robot head structure of the embodiment of the invention, the head structure further comprises: the second driving piece is arranged on the mounting platform and matched with the mounting platform to drive the head body to do rotary motion.

In some examples, the mounting platform includes: the head body is arranged on the connecting seat, and the second driving piece is matched with the connecting seat; the output end of the second driving piece is arranged on the fixing seat, and the shell body of the second driving piece rotates to drive the head body to do rotary motion.

In some examples, further comprising: the bearing is arranged between the connecting seat and the fixing seat, the inner ring of the bearing is matched with the fixing seat, and the outer ring of the bearing is matched with the connecting seat.

In some examples, the linkage further comprises: the driving rod is rotatably connected with one end of the connecting rod, and the driven rod is rotatably connected with the other end of the connecting rod.

According to the robot head structure of the embodiment of the invention, the link mechanisms comprise three or four link mechanisms, and the three link mechanisms or the four link mechanisms are arranged at equal intervals along the circumferential direction.

According to the robot according to the second aspect of the embodiment of the invention, the robot head structure according to the first aspect of the embodiment of the invention can achieve the aim of making various movements by the robot, the flexibility of the movements of the robot can be improved, the robot can be operated conveniently, the supporting rigidity of the robot can be improved, and meanwhile, the robot head structure is simple, the robot head structure is convenient to manufacture and assemble, and the production cost of the robot can be reduced conveniently.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is an exploded view of a robot head structure according to an embodiment of the present invention;

FIG. 2 is a partial structural schematic view of a robot head structure according to an embodiment of the present invention;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a cross-sectional view taken along line A-A of FIG. 3;

FIG. 5 is a schematic view of a robot head structure in a motion state according to an embodiment of the present invention;

FIG. 6 is a partial schematic view of the robot head structure shown in FIG. 5;

fig. 7 is a schematic view of a robot head structure in another motion state according to an embodiment of the present invention;

FIG. 8 is a partial schematic view of the robot head structure shown in FIG. 7;

fig. 9 is a schematic hardware configuration of a multi-legged robot according to one embodiment of the present invention;

fig. 10 is a schematic structural view of a multi-legged robot according to an embodiment of the present invention.

Reference numerals:

the robot head structure 100,

a supporting seat 10, a bottom plate 11, a supporting column 12,

mounting platform 20, connecting seat 21, opening 211, bearing 22, bearing press block 23, fixing seat 24,

the head body 30 is provided with a pair of projections,

a link mechanism 40, a driving lever 41, a connecting lever 42, a driven lever 43,

a first drive member 50, a first telescoping rod 51, a second telescoping rod 52, a first end 53 of the first telescoping rod, a second end 54 of the first telescoping rod, a first end 55 of the second telescoping rod, a second end 56 of the second telescoping rod,

a second driver 60.

Detailed Description

It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the following description, suffixes such as "module", "component", or "unit" for representing components are used only for facilitating the description of the present invention, and have no specific meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

Referring to fig. 1-10, fig. 9 is a schematic hardware diagram of a multi-legged robot 1000 according to one embodiment of the present invention. In the embodiment shown in fig. 9, the multi-legged robot 1000 includes a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a control module 110, and a power source 111. The various components of the multi-legged robot 1000 can 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 specific structure of the multi-legged robot 1000 shown in fig. 9 does not constitute a limitation of the multi-legged robot 1000, the multi-legged robot 1000 may include more or less components than illustrated, and that some components do not necessarily constitute the multi-legged robot 1000, may be omitted entirely within a range not changing the essence of the invention, or some components may be combined as desired.

The various components of the multi-legged robot 1000 are described in detail below in conjunction with fig. 9:

the mechanical unit 101 is hardware of the multi-legged robot 1000. As shown in fig. 9, the mechanical unit 101 may include a drive plate 1011, a motor 1012, a mechanical structure 1013, as shown in fig. 10, the mechanical structure 1013 may include a body 1014, extendable legs 1015, feet 1016, and in other embodiments, the mechanical structure 1013 may further include an extendable mechanical arm (not shown), a rotatable head structure 1017, a swingable tail structure 1018, a carrier structure 1019, a saddle structure 1020, a camera structure 1021, and the like. It should be noted that, the number of the component modules of the mechanical unit 101 may be one or more, and may be set according to the specific situation, for example, the number of the legs 1015 may be 4, each leg 1015 may be configured with 3 motors 1012, and the number of the corresponding motors 1012 is 12.

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 multi-legged robot 1000 to move in a specific direction at 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 includes, for example, a WiFi module, a 4G module, a 5G module, a bluetooth module, an infrared module, and the like.

The sensing unit 103 is used for acquiring information data of the surrounding environment of the multi-legged robot 1000 and monitoring parameter data of each component inside the multi-legged robot 1000, and sending the information data to the control module 110. The sensing unit 103 includes various sensors such as a sensor that acquires surrounding environment 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 to monitor various components within the multi-legged robot 1000: 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 multi-legged robot 1000, the detailed 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 multi-legged robot 1000, 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 multi-legged robot 1000 in use (such as various sensed 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 two parts of a touch detection device 1073 and a touch controller 1074. The touch detection 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 detecting 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. 9, 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 multi-legged robot 1000, connects the respective components of the entire multi-legged robot 1000 using various interfaces and lines, and performs overall control of the multi-legged robot 1000 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 and a power control board for controlling functions such as battery charging, discharging, and power consumption management. In the embodiment shown in fig. 9, 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 embodiments, specifically, in some embodiments, the terminal device may be in communication connection with the multi-legged robot 1000, when the terminal device communicates with the multi-legged robot 1000, instruction information may be sent to the multi-legged robot 1000 through the terminal device, the multi-legged robot 1000 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 multi-legged robot 1000 may include a sensing unit 103, and the sensing unit 103 may generate instruction information according to the current environment in which the multi-legged robot 1000 is located. The control module 110 may determine whether the current speed value of the multi-legged robot 1000 satisfies the corresponding preset condition according to the instruction information. If so, maintaining the current speed value and current gait movement of the multi-legged robot 1000; if not, the target speed value and the corresponding target gait are determined according to the corresponding preset conditions, so that the multi-legged robot 1000 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.

A robot head structure 100 according to an embodiment of the present invention is described below with reference to fig. 1-8.

As shown in fig. 1 to 8, a robot head structure 100 according to an embodiment of the present invention includes: the support seat 10, the mounting platform 20, the link mechanism 40 and the first driving piece 50, the mounting platform 20 sets up in the top of support seat 10, the mounting platform 20 can be used for installing head body 30, link mechanism 40 includes a plurality ofly, every link mechanism 40 all has driving lever 41 and driven lever 43, driving lever 41 is connected with support seat 10, driven lever 43 is connected with mounting platform 20, the first driving piece 50 sets up on support seat 10, first driving piece 50 cooperates with driving lever 41 for first driving piece 50 can drive driving lever 41 activity, thereby drive driven lever 43 activity, thereby, head body 30 on the mounting platform 20 both can realize the function of pitching motion (namely rotate about the n axle in fig. 3 as the axis), also can realize the function of rolling motion (namely rotate about the m axle in fig. 3), can also carry out pitching motion and rolling motion simultaneously, the motion flexibility of robot head structure 100 has been improved.

According to the robot head structure 100 of the embodiment of the invention, the plurality of link mechanisms 40 are arranged, the first driving piece 50 drives the link mechanisms 40 to move so as to drive the head body 30 to pitch or roll, the purpose of controlling the head body 30 to make various movement forms is achieved, the flexibility of the movement of the robot head structure 100 is improved, the whole structure is simple, the support base 10 and the mounting platform 20 are connected through the link mechanisms 40, the support rigidity of the robot head structure 100 is improved, meanwhile, the link mechanisms 40 can be mutually hinged, the kinematic pairs of the connecting points are all simple plane revolute pairs, the processing difficulty is reduced, and the manufacture and the assembly of the robot head structure 100 are facilitated.

In some examples, each driving rod 41 may form a bending section, each driven rod 43 may also form a bending section, for example, two sections of the bending section may be perpendicular to each other, each bending section extends along a direction inclined to the vertical, the driven rod 43 is located above the driving rod 41, and the rear end of the driving rod 41 is connected to the front end of the driven rod 43, thereby implementing the function of translating the driving force on the first driving member 50 onto another plane, so that the movable range of the head body 30 on the mounting platform 20 may be enlarged, i.e., a larger pitch angle and roll angle may be obtained. In addition, this not only can stagger the position of partial mechanism, avoids the structure to take place to interfere, improves the motion stability of robot head structure 100, can also avoid driving force direct transfer to mounting platform 20, improves the flexibility of control, and the support rigidity of robot head structure 100 can also be improved simultaneously to the multiple motion of control robot head structure of being convenient for.

As shown in fig. 1-4, the linkage 40, according to some embodiments of the present invention, further includes: the connecting rod 42, the driving rod 41 is rotatably connected with one end of the connecting rod 42, the driven rod 43 is rotatably connected with the other end of the connecting rod 42, the driving rod 43 can be directly hinged to the connecting rod 42, the overall length of the connecting rod mechanism 40 can be increased through the connecting rod 42, the connecting rod mechanism 40 is conveniently connected with each connecting point, driving force transmission is facilitated, and the robot head structure 100 is conveniently controlled.

It should be noted that, the connecting rods 42 may be disposed between the driving rod 41 and the driven rod 43, and each connecting rod 42 may form a bending section, so that the driving rod 41 and the driven rod 43 may rotate on two intersecting planes, so that the connecting rod 42 may change the acting direction of the force.

As shown in fig. 2, 5 and 7, according to some embodiments of the present invention, the first driving member 50 includes: the first telescopic rod 51 and the second telescopic rod 52, the first end 53 of the first telescopic rod is rotatably connected with the supporting seat 10, the second end 54 of the first telescopic rod is rotatably connected with the driving rod 41 of one link mechanism 40, meanwhile, the first end 55 of the second telescopic rod is rotatably connected with the supporting seat 10, and the second end 56 of the second telescopic rod is rotatably connected with the driving rod 41 of the other link mechanism 40.

When the first telescopic rod 51 and the second telescopic rod 52 perform telescopic movement, the lengths of the first telescopic rod 51 and the second telescopic rod 52 are continuously changed, so that the driving rod 41 is driven to move, the driven rod 43 is driven to move, the head body 30 can realize multiple movement modes, that is, the driving rod 41 and the driven rod 42 are driven to move through the extension or shortening of the telescopic rods, the mounting platform 20 and the head body 30 can be driven to roll or pitch, and the overall structure has two power sources, so that the movement of the link mechanism is unique. It will be appreciated that the first telescopic rod 51 and the second telescopic rod 52 may be controlled to move simultaneously, the first telescopic rod 51 may be controlled to move independently, and the second telescopic rod 52 may be controlled to move independently, for example, one telescopic rod is controlled to move first, and then the other telescopic rod is controlled to move, and by controlling the movements of the two telescopic rods independently, the overall structure may obtain a larger pitch angle and roll angle.

It can be understood that the driving rod 41 is in running fit with the telescopic rod, meanwhile, the driving rod 41 is in running fit with the supporting seat 10, the supporting seat 10 can limit the movement direction of the driving rod 41 to a certain extent, the change of the length of the first telescopic rod 51 drives one driving rod 41 to rotate relative to the supporting seat 10, the change of the length of the second telescopic rod 52 drives the other driving rod 41 to rotate relative to the supporting seat 10, and under the action of the rotation of the two driving rods 41, the driven rod 43 and the mounting platform 20 are driven to move, so that the head body 30 can roll or pitch.

Wherein, two telescopic links are located the below of initiative pole 41 respectively, from this while improving the flexibility of motion, can also avoid the part structure of robot head structure 100 to take place to interfere, reduce structural wear etc..

As shown in fig. 2 and 3, according to some embodiments of the present invention, the rotation axis of the first end 53 of the first telescopic rod is perpendicular to the rotation axis of the first end 55 of the second telescopic rod, the rotation axis of the second end 54 of the first telescopic rod is perpendicular to the rotation axis of the second end 56 of the second telescopic rod, so that the movement path of the first telescopic rod 51 can be limited on one plane, and the movement path of the second telescopic rod 52 can be limited on another plane, where the two planes are perpendicular, for example, the rotation axis of the first end 53 of the first telescopic rod extends in the left-right direction, the first end 55 of the second telescopic rod extends in the front-back direction, and correspondingly, the rotation axis of the second end 54 of the first telescopic rod extends in the left-right direction, and the second end 56 of the second telescopic rod extends in the front-back direction, thereby facilitating two degrees of freedom of the head body 30, more flexible control of the mounting platform 20 and the head body 30, enabling the head body 30 to roll or pitch, and flexibility of the movement of the robot head structure 100.

In some examples, the axis of rotation of the second end 54 of the first telescoping rod and the axis of rotation of the second end 56 of the second telescoping rod may intersect, facilitating flexible control of the direction of movement of the head body 30 by controlling the angle at which the axes intersect, may increase the flexibility of movement of the robotic head structure 100.

In some examples, the axis of rotation of the second end 54 of the first telescoping rod may be on one horizontal plane and the axis of rotation of the second end 56 of the second telescoping rod may be on another horizontal plane, whereby by varying the height of the telescoping rod's position, the telescoping length of the telescoping rod may be adjusted to facilitate control of the direction of movement of the head body 30, improving the flexibility of movement of the robotic head structure 100, and facilitating user operation.

As shown in fig. 1 and 2, according to some embodiments of the present invention, the support base 10 includes a base plate 11 and support columns 12, the support columns 12 are disposed on the base plate 11, a first end 53 of a first telescopic rod is engaged with the base plate 11, a first end 55 of a second telescopic rod is engaged with the base plate 11, a second end 54 of the first telescopic rod is engaged with a driving rod 41 of a link mechanism 40, the driving rod 41 of each link mechanism 40 is engaged with an upper end of the support column 12, the support columns 12 can support the mounting platform 20 through the link mechanism 40, support rigidity of the robot head structure 100 is improved, the support columns 12 are engaged with the base plate 11 to provide a space allowance for a part of the structure of the robot head structure 100 together, and a plurality of connection points are provided to facilitate assembly of the robot head structure 100, and repair of the robot head structure 100 is facilitated.

As shown in fig. 3, according to some embodiments of the present invention, the driving rods 41 of the plurality of link mechanisms 40 are arranged at intervals along the circumferential direction of the support column 12, the driven rods 43 of the plurality of link mechanisms 40 are arranged at intervals along the circumferential direction of the mounting platform 20, so that the link mechanisms 40 are uniformly stressed, the support column is uniformly stressed, the support rigidity of the robot head structure 100 is improved, meanwhile, the plurality of link mechanisms 40 are arranged at intervals, the first driving member 50 is matched with the two link mechanisms 40, so that the head body 30 can be controlled to roll or pitch, development cost is saved, user operation is facilitated, and the plurality of link mechanisms 40 can be identical in shape, so that processing and production are facilitated, production cost is reduced, and maintenance is facilitated.

In some examples, the robot head structure 100 is provided with four link mechanisms 40, four driving rods 41 are equally spaced along the circumferential direction of the support column 12, that is, the central angle between the connection points of two adjacent driving rods 41 and the support column 12 is 90 °, and four driven rods 43 are equally spaced along the circumferential direction of the mounting platform 20, that is, the central angle between the connection points of two adjacent driven rods 43 and the mounting platform 20 is 90 °.

In other examples, the robot head 100 is provided with three link mechanisms 40, and three driving rods 41 are equally spaced along the circumferential direction of the support column 12, that is, the central angle between the connection points of two adjacent driving rods 41 and the support column 12 is 120 °, and three driven rods 43 are equally spaced along the circumferential direction of the mounting platform 20, that is, the central angle between the connection points of two adjacent driven rods 43 and the mounting platform 20 is 120 °.

According to still other examples of the present invention, the first driving member 50 may also be a motor, and an output shaft of the motor is cooperatively connected with the driving rod 41 to drive the driving rod 41 to move, so as to drive the driven rod 43, the mounting platform 20 and the head body 30 to move, and correspondingly, the two motors respectively drive the two driving rods 41 to move, so that the movement of the head body 30 is more stable and reliable.

As shown in fig. 2, according to some embodiments of the invention, the robotic head structure 100 further comprises: the second driving piece 60, the second driving piece 60 sets up on the mounting platform 20, and second driving piece 60 and mounting platform 20 mutually support, and second driving piece 60 can drive head body 30 and do rotary motion (namely rotate with the p axle in fig. 4 as the axis), increases the degree of freedom of head body 30 activity, and then has enriched the motion mode of robot head structure 100, has improved the motion flexibility of robot head structure 100.

As shown in fig. 1 and 2, according to some embodiments of the invention, the mounting platform 20 includes: the connecting seat 21 and the fixing seat 24, the head body 30 is arranged on the connecting seat 21, the second driving piece 60 is matched with the connecting seat 21, one side (the lower side shown in fig. 2) of the second driving piece 60 facing the connecting seat 21 can be connected with one side (the upper side shown in fig. 2) of the second driving piece 60 facing the connecting seat 21, the connecting mode can be screw connection, the second driving piece 60 and the connecting seat 21 are fixed together, the output shaft of the second driving piece 60 is fixedly connected with the fixing seat 24 due to the fact that the fixing seat 24 is fixed, the output shaft cannot rotate, the output torque is reversely transmitted to the shell of the second driving piece 60, the shell of the second driving piece 60 rotates, the shell of the second driving piece 60 is fixedly connected with the connecting seat 21, the head body 30 is arranged on the connecting seat 21, and the head body 30 can realize rotary motion, so that the supporting rigidity of the whole structure is improved, and meanwhile, the driving reliability of the second driving piece 60 is prevented from being influenced by the weight of the head body 30.

In some specific examples, an opening 211 is provided in the connecting seat 21, and the opening 211 may be disposed on the fixing seat 24 through an output shaft of the second driving member 60, where a housing of the second driving member 60 drives the robot head to rotate by self-rotation, and a rotation direction of the head body 30 is opposite to a torque direction output by the second driving member 60.

In some examples, the driving mechanism of the second driving member 60 may be a motor, and the head body 30 is rotated by the rotation of an output shaft of the motor; the driving mechanism of the second driving member 60 may also be a steering engine, through which the rotational movement of the head body 30 is controlled.

As shown in fig. 1 and 4, the mounting platform 20 further includes, according to some embodiments of the invention: bearing 22, bearing 22 sets up between connecting seat 21 and fixing base 24, bearing 22's inner circle and fixing base 24 cooperation, bearing 22's outer lane and connecting seat 21 cooperation, through setting up bearing 22, can play certain supporting role to connecting seat 21, avoid the output shaft atress of second driving piece 60 to influence the life of second driving piece 60, improve the stability of structure, can reduce the friction of connecting seat 21 and head body 30 in rotary motion simultaneously, reduce the abnormal sound, in addition the response rotation instruction that robot head structure 100 can be faster of being convenient for improves rotatory flexibility.

In some examples, the mounting platform 20 further includes a bearing pressing block 23, where the bearing pressing block 23 is disposed between the bearing 22 and the fixing seat 24, and the bearing pressing block 23 is fixedly connected with the connecting seat 21, where the connection manner may be screw connection or bolt connection, and by setting the bearing pressing block 23, the bearing 22 is fixed below the connecting seat 21, and the bearing pressing block 23 and the connecting seat 21 may wrap an outer portion of the bearing 22 to play a role of pressing the bearing 22 and fixing the bearing 22.

As shown in fig. 3, according to some embodiments of the present invention, the robot head structure 100 includes four link mechanisms 40, the four link mechanisms 40 may be equally spaced along a circumference, for example, the center of the mounting platform 20 and the center of the support base 10 are located on the same vertical line, the four link mechanisms 40 are circularly shaped at the center of the mounting platform 20 and are spaced at 90 degrees, and the four link mechanisms 40 are circumferentially around the mounting platform 20, thereby facilitating the manipulation of the movement of the head body 30 while improving the stability of the structure.

According to other embodiments of the present invention, the robot head structure 100 includes three link mechanisms 40, and the three link mechanisms 40 may be equally spaced along a circumference, for example, the center of the mounting platform 20 and the center of the support base 10 are located on the same vertical line, and the three link mechanisms 40 are arranged at intervals of 120 degrees with the center of the mounting platform 20 as a center, thereby reducing the manufacturing costs while achieving various movement functions of the robot head structure 100.

According to the robot provided by the embodiment of the invention, the robot head structure 100 is arranged on the robot, the purpose of making various movements by the robot can be achieved by adopting the robot head structure 100, the flexibility of the movement of the robot can be improved, the robot can be operated conveniently, the supporting rigidity of the robot can be improved, and meanwhile, the robot head structure 100 is simple, the manufacturing and the assembly are convenient, and the production cost of the robot can be reduced.

A specific embodiment of a robot according to the present invention is described below in connection with fig. 1-8.

The robot comprises a robot head structure 100, the robot head structure 100 comprising: the support base 10, the mounting platform 20, the head body 30, link mechanism 40, first driving piece 50, second driving piece 60, the support base 10 includes bottom plate 11 and support column 12, the mounting platform 20 includes connecting seat 21 and fixing base 24, the head body 30 is installed on connecting seat 21, second driving piece 60 installs on connecting seat 21, second driving piece 60 is located the head body 30 inside, the output shaft and the fixing base 24 fixed connection of second driving piece 60, link mechanism 40 includes articulated initiative pole 41 in proper order, connecting rod 42 and follower 43, initiative pole 41 articulates with the upper end of support column 12, follower 43 articulates with the periphery of fixing base 24.

The first driving member 50 includes a first telescopic rod 51 and a second telescopic rod 52, a first end 53 of the first telescopic rod 51 is hinged to the base plate 11, a second end 54 of the first telescopic rod 51 is hinged to one driving rod 41, a first end 55 of the second telescopic rod 52 is hinged to the base plate 11, a second end 56 of the second telescopic rod 52 is hinged to the other driving rod 41, wherein the first telescopic rod 51 is arranged on the right rear side of the supporting column 12, the second telescopic rod 52 is arranged on the right front side of the supporting column 12, and a rotation axis at the first end 53 of the first telescopic rod is intersected with a rotation axis at the first end 55 of the second telescopic rod, so that interference between the first telescopic rod 51 and the second telescopic rod 52 during movement is avoided.

Wherein, the length of the first telescopic rod 51 can control the robot head structure 100 to make partial movement, the length of the second telescopic rod 52 can also control the robot head structure 100 to make partial movement, the second driving piece 60 can control the robot head structure 100 to make partial movement, and the first telescopic rod 51, the second telescopic rod 52 and the second driving piece 60 are mutually matched, so that the head body 30 can roll by taking the m axis as an axis in fig. 3, pitch by taking the n axis as an axis in fig. 3, and rotate by taking the p axis as an axis in fig. 4.

Specifically, in some examples, the head body 30 may be made to perform a roll or pitch function by controlling the amount of telescoping of the first telescoping rod 51 and the second telescoping rod 52, wherein the first telescoping rod 51 may perform a low head function of the head body 30 by extension, the first telescoping rod 51 may perform a pitch function of the head body 30 by extension, the second telescoping rod 52 may perform a left roll function of the head body 30 by extension, the second telescoping rod 52 may perform a right roll function of the head body 30 by extension, wherein the first telescoping rod 51 primarily controls the pitch movement of the head body 30, the pitch movement of the head body 30 may be accompanied by a slight roll movement when the first telescoping rod 51 alone, the second telescoping rod 52 primarily controls the roll movement of the head body 30, and the roll movement of the head body 30 may be accompanied by a slight pitch movement when the second telescoping rod 52 alone, e.g., by alone extending the first telescoping rod 51, the head body 30 may roll slightly to the right, by alone shortening the first telescoping rod 51, the head body 30 may slightly roll slightly by alone, the head body 30 may slightly roll slightly by extending the second telescoping rod 52, and the head body may slightly roll slightly by alone.

In some examples, first telescoping rod 51 is extended or shortened when only head structure 30 is required to pitch, at which time second telescoping rod 52 is required to telescope to counteract the slight roll motion caused by the movement of first telescoping rod 51; when only head structure 30 is required to roll, second telescoping rod 52 is extended or contracted, at which time first telescoping rod 51 is required to telescope to counter the slight pitching motion caused by the movement of second telescoping rod 52.

As shown in fig. 5 and 6, in some examples, by shortening the first telescopic link 51 and shortening the second telescopic link 52, the head body 30 can be controlled to simultaneously perform a head tilting motion and a right rolling motion, on the basis of which the second telescopic link 52 is further extended, so that the head body 30 can perform a left rolling motion on the basis of the head tilting motion and the right rolling motion, and at this time, the head body 30 can be driven to rotate right or left by the second driving member 60.

As shown in fig. 7 and 8, in some examples, by extending the first telescopic link 51 and shortening the second telescopic link 52, the head body 30 can be controlled to simultaneously perform a low head movement and a right roll movement, on the basis of which the second telescopic link 52 is further extended so that the head body 30 can perform a left roll on the basis of the low head movement and the right roll movement, and at this time, the head body 30 can be driven to rotate right or left by the second driving member 60.

It will be appreciated by those skilled in the art that the specific structure of the robot shown in the drawings does not constitute a limitation on the robot, and the robot may include more or less parts than those shown, and that some parts do not necessarily belong to the necessary constitution of the robot, may be omitted entirely within the scope of not changing the essence of the invention, or some parts may be combined as required.

Other constructions and operations of robots according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein. The vertical direction, the horizontal direction, and the front-rear direction are defined by the vertical direction, the horizontal direction, and the front-rear direction in the drawing.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, features defining "first", "second" may include one or more such features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the description of the present invention, unless explicitly stated and limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, or may include both the first and second features not being in direct contact but being in contact by another feature therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A robotic head structure, comprising:

a support base;

the mounting platform is positioned above the supporting seat and is used for mounting the head body;

the connecting rod mechanisms comprise a plurality of connecting rod mechanisms, each connecting rod mechanism is provided with a driving rod and a driven rod, the driving rods are connected with the supporting seats, and the driven rods are connected with the mounting platform;

the first driving piece is located the supporting seat and with the initiative pole cooperation is in order to drive the initiative pole activity, drives the driven lever activity makes head body on the mounting platform is pitching motion and/or roll motion, the first driving piece includes: the first end of the first telescopic rod is rotatably connected with the supporting seat, and the second end of the first telescopic rod is rotatably connected with a driving rod of the connecting rod mechanism; the first end of the second telescopic rod is rotatably connected with the supporting seat, and the second end of the second telescopic rod is rotatably connected with the driving rod of the other connecting rod mechanism.

2. The robotic head structure of claim 1, wherein the axis of rotation of the first end of the first telescoping rod is perpendicular to the axis of rotation of the first end of the second telescoping rod, and the axis of rotation of the second end of the first telescoping rod is perpendicular to the axis of rotation of the second end of the second telescoping rod.

3. The robotic head structure of claim 1, wherein the support base comprises a base plate and a support column, the support column is disposed on the base plate, the first end of the first telescoping rod and the first end of the second telescoping rod are respectively engaged with the base plate, and the drive rod of each linkage is respectively engaged with the upper end of the support column.

4. A robotic head structure as claimed in claim 3, in which a plurality of the drive rods of the linkage are spaced apart along the circumference of the support column and a plurality of the driven rods of the linkage are spaced apart along the circumference of the mounting platform.

5. The robotic head structure of claim 1, wherein the head structure further comprises: the second driving piece is arranged on the mounting platform and matched with the mounting platform to drive the head body to do rotary motion.

6. The robotic head structure of claim 5, wherein the mounting platform comprises:

the head body is arranged on the connecting seat, and the second driving piece is matched with the connecting seat;

the output end of the second driving piece is arranged on the fixing seat, and the shell body of the second driving piece rotates to drive the head body to do rotary motion.

7. The robotic head structure of any one of claims 1-6, wherein the linkage mechanism further comprises: the driving rod is rotatably connected with one end of the connecting rod, and the driven rod is rotatably connected with the other end of the connecting rod.

8. The robotic head structure of claim 1, wherein the linkages comprise three or four, the three linkages or the four linkages being equally spaced apart along a circumference.

9. A robot comprising a robot head structure according to any one of claims 1-8.