Patent Publication Number: US-2020282572-A1

Title: Robot head and neck assembly, and robot

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application claims priority to Chinese Patent Application No. 201910154369.0, filed with the Chinese Patent Office on Mar. 1, 2019, titled “ROBOT HEAD AND NECK ASSEMBLY, AND ROBOT”, the entire contents of which are incorporated herein by reference. 
     TECHNICAL FIELD 
     Embodiments of the present application relate to the technical field of robots, and in particular, relate to a robot head and neck assembly and a robot. 
     BACKGROUND 
     A robot head and neck assembly is a top structural component of a robot, and is an important component for a user to make man-machine interactions. 
     During the implementation of the present application, the inventors have identified that: At present, the robot head and neck assembly is generally divided into a robot head and neck skeleton and a case skin. The robot head and neck skeleton is directly lapped to the skin to form the robot head and neck assembly. If the appearance of the robot head and neck needs to be changed, the whole robot head and neck skeleton needs to be replaced. 
     SUMMARY 
     An embodiment of the present application provides a robot head and neck assembly. The robot head and neck assembly includes: a head and neck inner skeleton; and a head and neck outer skeleton, disposed on an outer side of the head and neck inner skeleton, and wrapping the head and neck inner skeleton. 
     Another embodiment of the present application provides a robot. The robot includes a robot head and neck assembly. The robot head and neck assembly includes: a head and neck inner skeleton; and a head and neck outer skeleton, disposed on an outer side of the head and neck inner skeleton, and wrapping the head and neck inner skeleton. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       For clearer descriptions of the technical solutions according to the specific embodiments of the present application or the technical solutions in the related art, the accompanying drawings incorporated for illustrating the specific embodiments or the related art are briefly described hereinafter. In all the accompanying drawings, like elements or parts are generally denoted by like reference numerals. In the accompanying drawings, various elements or parts are not necessarily drawn according to the actual scale. 
         FIG. 1  is a sectional view of a robot head and neck assembly according to an embodiment of the present application; 
         FIG. 2  is an exploded view of a robot head and neck assembly according to an embodiment of the present application; 
         FIG. 3  is a schematic view of a head and neck inner skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 4  is an exploded view of the head and neck inner skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 5  is a schematic view of a head and neck outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 6  is a schematic view of a first connecting member and the head outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 7  is a partially enlarged view of a head left outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 8  is a partially enlarged view of a head right outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 9  is a schematic view of a skull outer skeleton and the head outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 10  is a partially enlarged view of the head outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 11  is a schematic view of a swing head effector, a second connecting member and a swing head outer skeleton in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 12  is a schematic view of a portion of members in the robot head and neck assembly according to an embodiment of the present application; 
         FIG. 13  is an exploded view of an outer skin in the robot head and neck assembly according to an embodiment of the present application; and 
         FIG. 14  is another exploded view of an outer skin in the robot head and neck assembly according to an embodiment of the present application. 
     
    
    
     REFERENCE NUMERALS AND DENOTATIONS THEREOF 
     
         
         
           
             Robot head and neck assembly  20 ; 
             Head and neck inner skeleton  21 ; 
             Head and neck outer skeleton  22 ; 
             Outer skin  23 ; 
             First connecting member  211 ; 
             Swing head effector  212 ; 
             Second connecting member  213 ; 
             Lift head effector  214 ; 
             Rotate head effector  215 ; 
             Top plate  2111 ; 
             First connecting stand late  2112 ; 
             Second connecting stand late  2113 ; 
             Third connecting stand late  2131 ; 
             Fourth connecting stand late  2132 ; 
             Connecting boss  2141 ; 
             Connecting groove  2151 ; 
             Head outer skeleton  221 ; 
             Skull outer skeleton  222 ; 
             Swing head outer skeleton  223 ; 
             Lift head outer skeleton  224 ; 
             Rotate head outer skeleton  225 ; 
             Head left outer skeleton  2211 ; 
             Head right outer skeleton  2212 ; 
             Second positioning boss  2211   a;    
             Second positioning groove  2212   a;    
             First positioning groove  2213 ; 
             First positioning boss  2221 ; 
             Swing head front outer skeleton  2231 ; 
             Swing head rear outer skeleton  2232 ; 
             Connecting piece  2233 ; 
             Lift head front outer skeleton  2241 ; 
             Lift head rear outer skeleton  2242 ; 
             Skull outer skin  231 ; 
             Head outer skin  232 ; 
             Swing head outer skin  233 ; 
             Lift head outer skin  234 ; 
             Rotate head front outer skeleton  2251 ; 
             Rotate head rear outer skeleton  2252 . 
           
         
       
    
     DETAILED DESCRIPTION 
     The embodiments containing the technical solutions of the present application are described in detail with reference to the accompanying drawings. The embodiments hereinafter are only used to clearly describe the technical solutions of the present application. Therefore, these embodiments are only used as examples, but are not intended to limit the protection scope of the present application. 
     It should be noted that unless otherwise specified, the technical terms and scientific terms used in the present application shall express general meanings that may be understood by a person skilled in the art. 
     In the description of the present application, it should be understood that the terms “central”, “longitudinal”, “transversal”, “length”, “width”, “thickness”, “upper”, “lower”, “front”, “rear”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inner”, “outer”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential” and the like indicate orientations and position relationships which are based on the illustrations in the accompanying drawings, and these terms are merely for ease and brevity of the description, instead of indicating or implying that the devices or elements shall have a particular orientation and shall be structured and operated based on the particular orientation. Accordingly, these terms shall not be construed as limiting the present application. 
     In addition, terms of “first”, “second” are only used for description, but shall not be understood as indication or implication of relative importance or implicit indication of the number of the specific technical features. In the description of the present application, the term “more” or “a plurality of” signifies at least two, unless otherwise specified. 
     In the description of the present application, it should be noted that unless otherwise specified and defined, the terms “mounted”, “coupled”, “connected” and “fixed” and derivative forms thereof shall be understood in a broad sense, which, for example, may be understood as fixed connection, detachable connection or integral connection; may be understood as mechanical connection or electrical connection, or understood as direct connection, indirect connection via an intermediate medium, or communication between the interiors of two elements or interactions between two elements. Persons of ordinary skill in the art may understand the specific meanings of the above terms in the present application according to the actual circumstances and contexts. 
     In the present application, unless otherwise specified or defined, by defining that a first feature is disposed “above” or “below” or “beneath” a second feature, it may be meant that the first feature is in direct contact with the second feature, or the first feature is in indirect contact with the second feature via an intermediate medium. In addition, by defining that a first feature is disposed “over” or “above” a second feature, it may be meant that the first feature is rightly over the second feature or is obliquely above the second feature, or the horizontal height of the first feature is greater than that of the second feature. In addition, by defining that a first feature is disposed “under” or “blow, or “beneath” a second feature, it may be meant that the first feature is rightly under the second feature or is obliquely below the second feature, or the horizontal height of the first feature is less than that of the second feature. 
     Referring to  FIG. 1  and  FIG. 2 , a robot head and neck assembly  20  includes a head and neck inner skeleton  21 , a head and neck outer skeleton  22 , and an outer skin  23 . The head and neck outer skeleton  22  is disposed on an outer side of the head and neck inner skeleton  21 , and wraps the head and neck inner skeleton  21 . The head and neck outer skeleton  22  is a part forming the appearance of a robot head and neck. The outer skin  23  is disposed on an outer side of the head and neck outer skeleton  22 , and is a part forming the skin of a robot head and neck. 
     With respect to the head and neck inner skeleton  21 , as illustrated in  FIG. 3 , the head and neck inner skeleton  21  includes a first connecting member  211 , a swing head effector  212 , a second connecting member  213 , a lift head effector  214 , and a rotate head effector  215 . 
     With respect to the first connecting member  211  and the swing head effector  212 , as illustrated in  FIG. 4 , the first connecting member  211  includes a top plate  2111 , a first connecting stand plate  2112 , and a second connecting stand plate  2113 . Two ends of the top plate  2111  are respectively threaded to one end of the first connecting stand plate  2112  and one end of the second connecting stand plate  2113 . The other end of the first connecting stand plate  2112  is rotatably connected to a case of the swing head effector  212 , and the other end of the second connecting stand plate  2113  is threaded to an output end of the swing head effector  212 , such that the first connecting member  211  is connected to the output end of the swing head effector  212 . In some other embodiments, the other end of the first connecting stand plate  2112  may be rotatably connected to the case of the swing head effector  212  optionally by gap fitting or bearing connection or the like. 
     It may be understood that both the two ends of the top plate  2111  may be respectively connected to the first connecting stand plate  2112  and the second connecting stand plate  2113 , and the second connecting stand plate  2113  may be connected to the output end of the swing head effector  212  in other modes, for example, snap-fitting connection or the like, other than the connection modes as described above. 
     With respect to the second connecting member  213  and the lift head effector  214 , still referring to  FIG. 4 , the second connecting member  213  includes a third connecting stand plate  2131  and a fourth connecting stand plate  2132 . One end of the third connecting stand plate  2131  and one end of the fourth connecting stand plate  2132  are respectively threaded to the case of the swing head effector  212 , such that the case of the swing head effector  212  is connected to one end of the second connecting member  213 . The other end of the fourth connecting stand plate  2132  is threaded to an output end of the lift head effector  214 , and the other end of the third connecting stand plate  2131  is rotatably connected to a case of the lift head effector  214 , such that the other end of the second connecting member  213  is connected to an output end of the lift head effector  214 . The case of the lift head effector  214  is provided with a connection boss  2141 . In some other embodiments, the other end of the third connecting stand plate  2131  may be rotatably connected to the case of the lift head effector  214  optionally by gap fitting or bearing connection or the like. 
     It may be understood that both the third connecting stand plate  2131  and the fourth connecting stand plate  2132  may be respectively connected to the case of the swing head effector  212 , and the fourth connecting stand plate  2132  may be connected to the output end of the lift head effector  214  in other modes, for example, snap-fitting connection or the like, other than the connection modes as described above. The first connecting member  211  and the second connecting member  213  may also be other devices achieving the same connection effect, which are not described herein any further. 
     With respect to the rotate head effector  215 , still referring to  FIG. 4 , an output end of the rotate head effector  215  is provided with a connecting groove  2151 . The connecting boss  2141  is snapped into the connecting groove  2151 , and the connecting boss  2141  is in interference fit with the connecting groove  2151 , such that the output end of the rotate head effector  215  is connected to the case of the lift head effector  214 . In some embodiments, the rotate head effector  215  may be an outer rotor effector, and the output end of the rotate head effector  215  may be a flange, such that the output end of the rotate head effector  215  outputs a greater torque. 
     It may be understood that male-female engagement between the connecting boss  2141  and the connecting groove  2151  may be practiced in other modes other than the mode as described above, which are not described herein any further. The output end of the rotate head effector  215  may also be connected to the case of the lift head effector  214  in other modes other that the connection mode as described above, which are not described herein any further. 
     In summary, the head and neck inner skeleton  21  is divided into the first connecting member  211 , the swing head effector  212 , the second connecting member  213 , the lift head effector  214 , and the rotate head effector  215 , and these effectors and connecting members are connected in a detachable mode, such that modularized design of the head and neck inner skeleton  21  is implemented, which is favorable to assembling, repair and part replacement of the head and neck inner skeleton  21 . Nevertheless, with respect to different types of head and neck inner skeletons  21  or head and neck inner skeletons  21  imposing different design requirements, these head and neck inner skeletons impose different requirements on degree of freedom. Correspondingly, the number of effectors and the number of connecting members of the head and neck inner skeletons  21  are also different, which are not described herein any further. 
     With respect to the head and neck outer skeleton  22 , as illustrated in  FIG. 5 , the head and neck outer skeleton  22  includes a head outer skeleton  221 , a skull outer skeleton  222 , a swing head outer skeleton  223 , a lift head outer skeleton  224 , and a rotate head outer skeleton  225 . 
     With respect to the head outer skeleton  221 , as illustrated in  FIG. 6  to  FIG. 10 , the head outer skeleton  221  includes a head left outer skeleton  2211  and a head right outer skeleton  2212 . The head left outer skeleton  2211  is provided with a second positioning boss  2211   a , and the head right outer skeleton  2212  is provided with a second positioning groove  2212   a . The head left outer skeleton  2211  is threaded to the first connecting stand plate  2112 , and the head right outer skeleton  2212  is threaded to the second connecting stand plate  2113 , such that the head outer skeleton  221  is connected to the first connecting member  211 . In the process of threading the head left outer skeleton  2211  to the first connecting stand plate  2112  and threading the head right outer skeleton  2212  to the second connecting stand plate  2113 , the second positioning boss  2211   a  and the second positioning groove  2212   a  achieve an effect of guiding interconnection between the head left outer skeleton  2211  and the head right outer skeleton  2212 . Upon completion of threading of the head left outer skeleton  2211  to the first connecting stand plate  2112  and threading of the head right outer skeleton  2212  and the second connecting stand plate  2113 , the second positioning boss  22111   a  is snapped into the second positioning groove  2212   a . The head left outer skeleton  2211  and the head right outer skeleton  2212 , when being connected to the first connecting member  211 , collaboratively wrap the first connecting member  211 , such that a head appearance model of the robot is formed. In some embodiments, the head left outer skeleton  2211  may also be fixed to the head right outer skeleton  2212  by threading, and in this situation, the head left outer skeleton  2211  and the head right outer skeleton  2212  further collaboratively form a first positioning groove  2213 . 
     It may be understood that the head left outer skeleton  2211  may be connected to the first connecting stand plate  2112 , the head right outer skeleton  2212  may be connected to the second connecting stand plate  2113 , and the head left outer skeleton  2211  may be connected to the head right outer skeleton  2212  all in other modes other than the connection modes as described above, which are not described herein any further. In addition, the first positioning groove  2213  may also be formed in other modes. For example, the first positioning groove  2213  may be directly disposed on the head left outer skeleton  2211  or the head right outer skeleton  2212 . 
     With respect to the skull outer skeleton  222 , still referring to  FIG. 10 , the skull outer skeleton  222  forms a skull appearance model of the robot. The skull outer skeleton  222  is provided with a first positioning boss  2221 . The skull outer skeleton  222  is threaded to the head left outer skeleton  2211  and the head right outer skeleton  2212  respectively, such that the skull outer skeleton  222  is connected to the head outer skeleton  221 . In the process of connecting the skull outer skeleton  222  to the head outer skeleton  221 , the first positioning boss  2221  and the first positioning groove  2213  achieve an effect of guiding interconnection between the skull outer skeleton  222  and the head outer skeleton  221 . Upon completion of threading of the skull outer skeleton  222  to the head left outer skeleton  2211  and the head right outer skeleton  2212  respectively, the first positioning boss  2221  is snapped into the first positioning groove  2213 . In addition, in some embodiments, the number of first positioning bosses  2221  and first positioning grooves  2213 , and the number of second positioning bosses  2211   a  and second positioning grooves  2212   a  may be larger. One first positioning boss  2221  is snapped into one first positioning groove  2213 , and one second positioning boss  2211   a  is snapped into one second positioning groove  2212   a.    
     It may be understood that the skull outer skeleton  222  may be connected to the head left outer skeleton  2211  and the head right outer skeleton  2212  in other modes other than the connection mode as described above, which are not described herein any further. Further, the first positioning boss  2221  and the first positioning groove  2213 , and the second positioning boss  2211   a  and the second positioning groove  2212   a  may also be other structures having the same positioning functions, which are not described herein any further. 
     With respect to the swing head outer skeleton  223 , as illustrated in  FIG. 11 , the swing head outer skeleton  223  includes a swing head front outer skeleton  2231 , a swing head rear outer skeleton  2232 , and a connecting piece  2233 . One end of the swing head front outer skeleton  2231  is threaded to the third connecting stand plate  2131 , and one end of the swing head rear outer skeleton  2232  is threaded to the fourth connecting stand plate  2132 , such that the swing head outer skeleton  223  is connected to the second connecting member  213 . Two ends of the connecting piece  2233  are respectively threaded to the swing head front outer skeleton  2231  and the swing head rear outer skeleton  2232 ; and the connecting piece  2233 , the swing head front outer skeleton  2231 , and the swing head rear outer skeleton  2232  collaboratively wrap and protect the second connecting member  213  and the swing head effector  212 . 
     With respect to the lift head outer skeleton  224 , as illustrated in  FIG. 12 , the lift head outer skeleton  224  includes a lift head front outer skeleton  2241  and a lift head rear outer skeleton  2242 . The lift head front outer skeleton  2241  and the lift head rear outer skeleton  2242  are both threaded to the case of the lift head effector  214 , such that the lift head outer skeleton  224  is connected to a case of the lift head effector  214 . The lift head front outer skeleton  2241  and the lift head rear outer skeleton  2242  collaboratively wrap and protect the lift head effector  214 . In some embodiments, the lift head front outer skeleton  2241  and the lift head rear outer skeleton  2242  may also be threaded to each other. 
     With respect to the rotate head outer skeleton  225 , as illustrated in  FIG. 12 , the rotate head outer skeleton  225  includes a rotate head front outer skeleton  2251  and a rotate head rear outer skeleton  2252 . The rotate head front outer skeleton  2251  and the rotate head rear outer skeleton  2252  are both threaded to a case of the rotate head effector  215 , such that the rotate head outer skeleton  225  is connected to the case of the rotate head effector  215 . The rotate head front outer skeleton  2251  and the rotate head rear outer skeleton  2252  collaboratively wrap and protect the rotate head effector  215 . In some embodiments, the rotate head front outer skeleton  2251  and the rotate head rear outer skeleton  2252  may also be threaded to each other. 
     It may be understood that the swing head front outer skeleton  2231  may be connected to the third connecting stand plate  2131 , the swing head rear outer skeleton  2232  may be connected to the fourth connecting stand plate  2132 , the connecting piece  2232  may be connected to the swing head front outer skeleton  2231  and the swing head rear outer skeleton  2232  respectively, the lift head front outer skeleton  2241  and the lift head rear outer skeleton  2242  may be respectively connected to the lift head effector  214 , the lift head front outer skeleton  2241  may be connected to the lift head rear outer skeleton  2242 , the rotate head front outer skeleton  2251  and the rotate head rear outer skeleton  2252  may be respectively connected to the rotate head effector  215 , and the rotate head front outer skeleton  2251  may be connected to the rotate head rear outer skeleton  2252  all in other modes other than the connection modes as described above, which are not described herein any further. 
     The head and neck outer skeleton  22  is divided into the head outer skeleton  221 , the skull outer skeleton  222 , the swing head outer skeleton  223 , the lift head outer skeleton  224 , and the rotate head outer skeleton  225 . The head outer skeleton  221 , the skull outer skeleton  222 , the swing head outer skeleton  223 , the lift head outer skeleton  224 , and the rotate head outer skeleton  225  respectively wrap the corresponding effectors and connecting members, such that the modularized design of the head and neck outer skeleton  22  is implemented, which is favorable to assembling, repair, and part replacement of the head and neck outer skeleton  22 . Nevertheless, with respect to different types of head and neck inner skeletons  21  or head and neck inner skeletons  21  imposing different design requirements, these head and neck inner skeletons impose different requirements on degree of freedom. Correspondingly, the number of effectors and the number of connecting members of the head and neck inner skeletons  21  are also different, and thus the modularized design of the head and neck outer skeleton  22  needs to be changed. In other embodiments, considering that the complexities of the effectors and connecting members of the head and neck inner skeleton  21  are different, correspondingly, further divisions of the correspondingly types of the outer skeletons are also different, which are not described herein any further. 
     With respect to the outer skin  23 , as illustrated in  FIG. 13  and  FIG. 14 , the outer skin  23  includes a skull outer skin  231 , a head outer skin  232 , a swing head outer skin  233 , and a lift head outer skin  234 . The skull outer skin  231  is connected to the skull outer skeleton  222  and the head outer skeleton  221  respectively, such that an appearance skin of the skull of the robot is formed. The head outer skin  232  is connected to the head outer skeleton  221 , such that a head appearance skin of the robot is formed. The swing head outer skin  233  is connected to the swing head outer skeleton  223 , and the lift head outer skin  234  is connected to the lift head outer skeleton  224 , such that a neck skin appearance of the robot is formed. 
     It should be noted that the skull outer skin  231 , the head outer skin  232 , the swing head outer skin  233 , and the lift head outer skin  234  may all be detachably connected to the head and neck inner skeleton  21  by thread connection, snap-fitting connection or the like. 
     It may be understood that different types of robots impose different requirements on appearance skin, and therefore, in other embodiments, the head and neck outer skeleton  22  may have one or a plurality of portions thereof coated with the skin  23 . Alternatively, the robot head and neck assembly  20  may also not include the outer skin  23 , such that different requirements on appearance skin imposed by different robots are accommodated. 
     In some embodiments, the density of the head and neck outer skeleton  22  is smaller than the density of the head and neck inner skeleton  21 ; and relative to an integrally-designed robot head and neck skeleton, the head and neck outer skeleton is lighter. Optionally, the head and neck outer skeleton  22  is made of plastic materials with a lighter weight, and may be manufactured by an injection-molding process. This process features lower cost and fewer restrictions on the appearance and shape, and thus diversified appearances of the robots may be achieved. In addition, by this process, the overall weight of the robot head and neck may be lowered, such that the robot head and neck assembly is light-weighted. 
     It may be understood that the head and neck outer skeleton  22  may also be manufactured by low-density and light-weighted materials other than the materials as descried above, which are not described herein any further. 
     In the embodiment of the present application, the robot head and neck assembly  20  is divided into the head and neck inner skeleton  21  and the head and neck outer skeleton  22 . The head and neck outer skeleton  22  is disposed outside the head and neck inner skeleton  21 , and wraps the head and neck inner skeleton  21 . The head and neck inner skeleton  21  is configured to define a movement structure of the robot head and neck, and the head and neck outer skeleton  22  is configured to define the appearance and shape of the robot head and neck. Therefore, in the present application, the appearance of the robot head and neck may be changed by replacing the head and neck outer skeleton  22 , with no need to wholly replace the robot head and neck assembly  20 . In this way, the cost of the replacement is low, and the replacement is convenient. In addition, the head and neck outer skeleton  22  is made of lightweight materials, which may reduce the overall weight of the robot head and neck assembly  20 , make the assembly lighter, and lower the cost. 
     An embodiment of the present application further provides a robot. The robot includes a robot head and neck assembly. The structure and functionality of the robot head and neck assembly are the same as those of the robot head and neck assembly as described in the above embodiments. For details of the structure and functionality, reference may be made to the above embodiments, which are not described herein any further. 
     It should be finally noted that the above-described embodiments are merely for illustration of the present application, but are not intended to limit the present application. Although the present application is described in detail with reference to these embodiments, a person skilled in the art may also make various modifications to the technical solutions disclosed in the embodiments, or make equivalent replacements to a part of or all technical features contained therein. Such modifications or replacement, made without departing from the principles of the present application, shall fall within the scope defined by the claims and the specification of the present application. Especially, various technical features mentioned in various embodiments may be combined in any mode as long as there is no structural conflict. The present application is not limited to the specific embodiments described herein in this specification, but also includes all the technical solutions falling within the scope subject to the appended claims.