CN220882347U - Robot and head and neck device thereof - Google Patents
Robot and head and neck device thereof Download PDFInfo
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- CN220882347U CN220882347U CN202322857071.0U CN202322857071U CN220882347U CN 220882347 U CN220882347 U CN 220882347U CN 202322857071 U CN202322857071 U CN 202322857071U CN 220882347 U CN220882347 U CN 220882347U
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Abstract
The application discloses a robot and a head and neck device thereof, relates to the field of robots, and can solve the problem that the vision detection capability of the robot in the prior art is limited. The head and neck device comprises a base, a first motor connected to the base, a first connecting piece connected to an output shaft of the first motor, a second motor connected to one end of the first connecting piece away from the first motor, a second connecting piece connected to an output shaft of the second motor, a third motor connected to one end of the second connecting piece away from the second motor and a camera connected to an output shaft of the third motor, wherein the first motor is used for driving the first connecting piece to rotate in a range of 0-360 degrees around an X axis, the second motor is used for driving the second connecting piece to rotate in a range of 0-360 degrees around a Y axis, the third motor is used for driving the camera to rotate in a range of 0-360 degrees around a Z axis, and the X axis, the Y axis and the Z axis are mutually perpendicular.
Description
Technical Field
The application relates to the field of robots, in particular to a robot and a head and neck device thereof.
Background
Robots are machines that automatically perform work and may perform certain tasks or assist a human in performing work instead of a human. The robot can operate according to a preset program, and can also carry out autonomous decision-making through an artificial intelligence technology. Robots are used in a wide variety of fields, where they can perform accurate and repetitive work, such as welding, assembly, etc., in the medical field, where they can assist or perform surgery, and in the home, where home robots can be used to clean, care for children, etc.
Existing robots are typically equipped with a head, which is typically provided with a camera. The camera has the main functions of providing visual information for the robot and helping the robot to perform environment sensing, object recognition, positioning navigation and the like. However, the head rotation of the robot is often limited by its own structure. For example, the torque and angular range of the head-attached servo motor, the head-to-body connection mechanical structure, and the placement of the camera and other sensors may limit the range of rotation of the head, which may prevent the robot's camera from completely covering its surroundings, thereby limiting the robot's visual inspection capabilities.
Disclosure of utility model
Therefore, the application provides a robot and a head and neck device thereof, which are used for solving the problem that the vision detection capability of the robot in the prior art is limited.
In order to achieve the above object, the present application provides the following technical solutions:
The utility model provides a head and neck device of robot, includes the base, connect in first motor of base, connect in first connecting piece of the output shaft of first motor, connect in first connecting piece keep away from the second motor of one end of first motor, connect in the second connecting piece of the output shaft of second motor, connect in the second connecting piece keep away from the third motor of one end of second motor and connect in the camera of the output shaft of third motor, first motor is used for driving first connecting piece rotates in 0-360 scope around the X axle, the second motor is used for driving second connecting piece rotates in 0-360 scope around the Y axle, the third motor is used for driving the camera rotates in 0-360 scope around the Z axle, the X axle the Y axle with Z axle mutually perpendicular.
Optionally, the first connecting piece includes a first plate connected to an output shaft of the first motor and a second plate integrally formed at one end of the first plate far away from the first motor, the second plate is perpendicular to the first plate, the second motor is connected to an end of the second plate far away from the first plate, the second connecting piece includes a third plate connected to an output shaft of the second motor, two fourth plates respectively connected to two ends of the third plate, the fourth plate is perpendicular to the third plate, an output shaft of the second motor is connected to a middle part of the third plate, the camera is located between the two fourth plates, two sides of the camera are respectively connected to the two fourth plates in a rotating mode, and the third motor is connected to any one of the two fourth plates; the second connector is on the same side of the second plate as the first plate.
Optionally, the length extension direction of the output shaft of the third motor passes through the middle part of the camera.
Optionally, the first motor has a first threading hole penetrating through itself, the first connecting piece has a first threading cavity extending from the first plate to the second plate, the second motor has a second threading hole penetrating through itself, the second connecting piece has a second threading cavity extending from the third plate to the fourth plate, the third motor has a third threading hole penetrating through itself, and the first threading hole, the first threading cavity, the second threading hole, the second threading cavity and the third threading hole are sequentially communicated.
Optionally, the first threading hole is located at the center of the first motor, the second threading hole is located at the center of the second motor, and the third threading hole is located at the center of the third motor.
Optionally, the first motor, the second motor and the third motor are slip ring motors.
Optionally, the camera is connected with the IMU sensor that is used for measuring acceleration and angular velocity of head and neck device, the base is connected with and is used for reading the data of IMU sensor and working out the space gesture of head and neck device, IMU sensor with the controller electricity is connected or wireless connection, first motor, second motor and third motor all with the controller electricity is connected.
The application also discloses a robot, comprising the head and neck device of the robot.
Compared with the prior art, the application has at least the following beneficial effects:
According to the head and neck device, the camera can rotate in any directions of the X axis, the Y axis and the Z axis through the cooperation of the first motor, the second motor and the third motor, and the limitation of other structures of the head and neck device on the rotation of the camera can be avoided, so that the detection range of the camera can almost cover all directions, and the visual detection capability of a robot is improved. The X axis, the Y axis and the Z axis are virtual axes, the X axis is collinear with the length extending direction of the output shaft of the first motor, the Y axis is collinear with the length extending direction of the output shaft of the second motor, and the Z axis is collinear with the length extending direction of the output shaft of the third motor.
Drawings
In order to more intuitively illustrate the prior art and the application, several exemplary drawings are presented below. It should be understood that the specific shape and configuration shown in the drawings are not generally considered limiting conditions in carrying out the application; for example, those skilled in the art will be able to make routine adjustments or further optimizations for the addition/subtraction/attribution division, specific shapes, positional relationships, connection modes, dimensional proportion relationships, and the like of certain units (components) based on the technical concepts and the exemplary drawings disclosed in the present application.
Fig. 1 is a schematic view of the overall structure of a robot and a head and neck device thereof according to an embodiment of the present application;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
fig. 4 is a partial cross-sectional view taken along the A-A plane of fig. 1.
Reference numerals illustrate:
1. A base; 2. a first motor; 21. a first threading hole; 3. a first connector; 31. a first plate; 32. a second plate; 33. a first threading cavity; 4. a second motor; 41. a second threading hole; 5. a second connector; 51. a third plate; 52. a fourth plate; 53. a second threading cavity; 6. a third motor; 7. a camera is provided.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. 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 application.
In the description of the present application: unless otherwise indicated, the meaning of "a plurality" is two or more. The terms "first," "second," "third," and the like in this disclosure are intended to distinguish between the referenced objects without a special meaning in terms of technical connotation (e.g., should not be construed as emphasis on the degree of importance or order, etc.). The expressions "comprising", "including", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).
Referring to fig. 1 to 4, the present application discloses a head and neck device of a robot, which comprises a base 1, a first motor 2 connected to the base 1, a first connecting piece 3 connected to an output shaft of the first motor 2, a second motor 4 connected to one end of the first connecting piece 3 far away from the first motor 2, a second connecting piece 5 connected to an output shaft of the second motor 4, a third motor 6 connected to one end of the second connecting piece 5 far away from the second motor 4, and a camera 7 connected to an output shaft of the third motor 6, wherein the first motor 2 is used for driving the first connecting piece 3 to rotate in a range of 0-360 degrees around an X-axis, the second motor 4 is used for driving the second connecting piece 5 to rotate in a range of 0-360 degrees around a Y-axis, the third motor 6 is used for driving the camera 7 to rotate in a range of 0-360 degrees around a Z-axis, and the X-axis, the Y-axis and the Z-axis are mutually perpendicular.
According to the head and neck device, the first motor 2, the second motor 4 and the third motor 6 are matched, so that the camera 7 can rotate in any directions of an X axis, a Y axis and a Z axis, the limitation of other structures of the head and neck device on the rotation of the camera 7 can be avoided, the detection range of the camera 7 can almost cover all directions, and the visual detection capability of a robot is improved. Wherein, X axis, Y axis and Z axis are virtual axis, and the length direction of extension of the output shaft of X axis and first motor 2 is collinearly, and the length direction of extension of the output shaft of Y axis and second motor 4 is collinearly, and the length direction of extension of the output shaft of Z axis and third motor 6 is collinearly.
The first connecting piece 3 comprises a first plate 31 connected to the output shaft of the first motor 2 and a second plate 32 integrally formed at one end of the first plate 31 far away from the first motor 2, the second plate 32 is perpendicular to the first plate 31, the second motor 4 is connected to the end of the second plate 32 far away from the first plate 31, the second connecting piece 5 comprises a third plate 51 connected to the output shaft of the second motor 4, two fourth plates 52 respectively connected to two ends of the third plate 51, the fourth plate 52 is perpendicular to the third plate 51, the output shaft of the second motor 4 is connected to the middle part of the third plate 51, the camera 7 is positioned between the two fourth plates 52, two sides of the camera 7 are respectively connected to the two fourth plates 52 in a rotating way, and the third motor 6 is connected to any one of the two fourth plates 52; the second connector 5 is located on the same side of the second plate 32 as the first plate 31.
The camera 7 is not interfered by other structures of the head and neck device in space position when rotating through the cooperation of the first connecting piece 3, the second connecting piece 5, the first motor 2, the second motor 4 and the third motor 6; the first plate 31, the second plate 32 and the second connecting piece 5 are integrally formed into a U shape, and because the second connecting piece 5 and the first plate 31 are all positioned on the same side of the second plate 32, the whole structure is stressed uniformly.
The length extension direction of the output shaft of the third motor 6 passes through the middle part of the camera 7. Thus, the third motor 6 is labor-saving when driving the camera 7 to rotate, and the camera 7 is not interfered by the position of the third plate 51 when the camera 7 rotates along the Z axis, so that the distance between the camera 7 and the third plate 51 is reduced, and the overall layout is compact.
In addition, the center of gravity of the camera 7 is located on the side, away from the third motor 6, of the extension line of the output shaft of the second motor 4, so that the stress of the output shaft of the second motor 4 can be balanced.
The first motor 2 has a first threading hole 21 penetrating itself, the first connection member 3 has a first threading cavity 33 extending from the first plate 31 to the second plate 32, the second motor 4 has a second threading hole 41 penetrating itself, the second connection member 5 has a second threading cavity 53 extending from the third plate 51 to the fourth plate 52, the third motor 6 has a third threading hole penetrating itself, and the first threading hole 21, the first threading cavity 33, the second threading hole 41, the second threading cavity 53 and the third threading hole are sequentially communicated. Thus, the data line and the power line can sequentially pass through the first threading hole 21, the first threading cavity 33, the second threading hole 41, the second threading cavity 53 and the third threading hole from the base 1, the line is not exposed outside, and the winding of the related structure is avoided when the head and neck device rotates.
The first through hole 21 is located at the center of the first motor 2, the second through hole 41 is located at the center of the second motor 4, and the third through hole is located at the center of the third motor 6.
The first motor 2, the second motor 4 and the third motor 6 are all slip ring motors. Slip ring motors are state of the art, also known as rotary joint motors.
The camera 7 is connected with an IMU sensor (which may include a plurality of sensors such as an accelerometer and a gyroscope) for measuring acceleration and angular velocity of the head and neck device, the base 1 is connected with a controller for reading data of the IMU sensor and calculating a spatial posture of the head and neck device, the IMU sensor is electrically or wirelessly connected with the controller, and the first motor 2, the second motor 4 and the third motor 6 are all electrically connected with the controller. The controller is programmable, and after the controller calculates the spatial attitude of the head and neck device, the first motor 2, the second motor 4 and the third motor 6 are controlled to execute corresponding actions so as to keep the head and neck device balanced, and the head and neck device can automatically adjust the self attitude without inputting external commands.
The application also discloses a robot, comprising the head and neck device of the robot. The base 1 is connected with a plurality of plug wire holes, and can be externally connected with data wires and power wires of a robot body (other execution mechanisms of the robot).
Any combination of the technical features of the above embodiments may be performed (as long as there is no contradiction between the combination of the technical features), and for brevity of description, all of the possible combinations of the technical features of the above embodiments are not described; these examples, which are not explicitly written, should also be considered as being within the scope of the present description.
The application has been described above with particularity and detail in connection with general description and specific embodiments. It should be understood that numerous conventional modifications and further innovations may be made to these specific embodiments, based on the technical concepts of the present application; but these conventional modifications and further innovations may also fall within the scope of the claims of the present application as long as they do not depart from the technical spirit of the present application.
Claims (8)
1. The head and neck device of the robot is characterized by comprising a base, a first motor connected to the base, a first connecting piece connected to an output shaft of the first motor, a second motor connected to one end of the first connecting piece far away from the first motor, a second connecting piece connected to an output shaft of the second motor, a third motor connected to one end of the second connecting piece far away from the second motor and a camera connected to an output shaft of the third motor, wherein the first motor is used for driving the first connecting piece to rotate in a range of 0-360 degrees around an X axis, the second motor is used for driving the second connecting piece to rotate in a range of 0-360 degrees around a Y axis, the third motor is used for driving the camera to rotate in a range of 0-360 degrees around a Z axis, and the X axis, the Y axis and the Z axis are mutually perpendicular.
2. The head and neck device according to claim 1, wherein the first connecting member comprises a first plate connected to an output shaft of the first motor and a second plate integrally formed at one end of the first plate away from the first motor, the second plate is perpendicular to the first plate, the second motor is connected to an end of the second plate away from the first plate, the second connecting member comprises a third plate connected to an output shaft of the second motor, two fourth plates respectively connected to two ends of the third plate, the fourth plate is perpendicular to the third plate, an output shaft of the second motor is connected to a middle part of the third plate, the camera is located between the two fourth plates, and two sides of the camera are respectively connected to the two fourth plates in a rotating manner, and the third motor is connected to any one of the two fourth plates; the second connector is on the same side of the second plate as the first plate.
3. The head and neck device of claim 2, wherein the length of the output shaft of the third motor extends through the middle of the camera.
4. The head and neck device of claim 2, wherein the first motor has a first threading aperture therethrough, the first connector has a first threading cavity extending from the first plate to the second plate, the second motor has a second threading aperture therethrough, the second connector has a second threading cavity extending from the third plate to the fourth plate, the third motor has a third threading aperture therethrough, and the first threading aperture, the first threading cavity, the second threading aperture, the second threading cavity, and the third threading aperture are in sequential communication.
5. The head and neck device of claim 4, wherein the first threaded aperture is located at a center of the first motor, the second threaded aperture is located at a center of the second motor, and the third threaded aperture is located at a center of the third motor.
6. The head and neck device of claim 4 or 5, wherein the first motor, the second motor, and the third motor are all slip ring motors.
7. The head and neck device according to claim 1, wherein the camera is connected with an IMU sensor for measuring acceleration and angular velocity of the head and neck device, the base is connected with a controller for reading data of the IMU sensor and calculating a spatial posture of the head and neck device, the IMU sensor is electrically or wirelessly connected with the controller, and the first motor, the second motor and the third motor are all electrically connected with the controller.
8. A robot comprising a head and neck device of a robot according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322857071.0U CN220882347U (en) | 2023-10-24 | 2023-10-24 | Robot and head and neck device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322857071.0U CN220882347U (en) | 2023-10-24 | 2023-10-24 | Robot and head and neck device thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220882347U true CN220882347U (en) | 2024-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322857071.0U Active CN220882347U (en) | 2023-10-24 | 2023-10-24 | Robot and head and neck device thereof |
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| Country | Link |
|---|---|
| CN (1) | CN220882347U (en) |
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- 2023-10-24 CN CN202322857071.0U patent/CN220882347U/en active Active
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