Robot and neck mechanism thereof

Abstract

The invention discloses a robot and a neck mechanism of the robot. The neck mechanism comprises an upper plate, a lower plate, a universal joint and two linkage mechanisms located on the two sides of the universal joint. The two ends of the universal joint are connected with the upper plate and the lower plate respectively. Each linkage mechanism comprises a stretching and contraction device, wherein the stretching and contraction device is used for driving the linkage mechanism to stretch or contract vertically, the upper end of the stretching and contraction device extends upwards away from the universal joint in an inclining mode to form an upper push rod, the lower end of the stretching and contraction device extends downwards away from the universal joint in an inclining mode to form a lower push rod, the upper push rod is connected with the upper plate, and the lower push rod is connected with the lower plate. In this way, on the one hand, the radial dimension of the neck of the robot is reduced; on the other hand, because the two ends of the neck mechanism stretch into the head and the body, part of the space of the head and part of the space of the body can be utilized to enable the two ends of the linkage mechanisms to extend in the radial direction as far as possible to increase the arm of force, accordingly, the requirement for overall power density is lowered, the actual gap of the neck mechanism is reduced, and cost is reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot and its neck mechanism. Background technique [0002] For a humanoid robot, its neck needs to have three degrees of freedom of movement, and the robot neck space is limited, so its structure must be as compact as possible, especially the radial dimension must be as small as possible. [0003] The patent document with the application number 201310198652.6 discloses a neck mechanism of a robot. Its motor adopts a square motor and is arranged next to the universal joint of the rotation center. The neck will make the neck of the robot thicker, which will make the proportion of the human body of the robot out of balance and affect the appearance. [0004] If the mechanism is scaled down and then put into the neck, the moment arm of the mechanism will be too short relative to the size of the head, causing a series of problems. First, in terms of force, a greater force is requi...

AI Technical Summary

Problems solved by technology

ultimately lead to increased costs

[0005] In short, due to the narrow space of the robot neck, the existing robot neck mechanism either makes the robot neck design thicker, sacrifices the coordination of human body proportions and the aesthetics of the robot to reduce costs; or increases the power of the motion mechanism Density and processing precision to maintain the coordination of robot human body proportions

Can't have both

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