Upper body structure and humanoid robot

Abstract

The invention discloses an upper body structure and a humanoid robot, and belongs to the technical field of humanoid robots. The upper body structure comprises a trunk assembly and a head assembly, the neck assembly is connected between the trunk assembly and the head assembly, the neck assembly comprises a rotation driving piece, a pitching driving piece, a linear push rod and a swing driving piece, the rotation driving piece is connected between the trunk assembly and the pitching driving piece, and the rotation driving piece rotates around a first axis; the pitching driving part, the linear push rod, the swinging driving part and the head assembly are driven to rotate; the pitching driving piece is connected between the rotation driving piece and the linear push rod, and the pitching driving piece rotates around a second axis to drive the linear push rod, the swing driving piece and the head assembly to pitch; the linear push rod is connected between the pitching driving piece and the swing driving piece, the swing driving piece is connected to the head assembly, the swing driving piece rotates around the third axis to drive the head assembly to swing around the third axis, and the linear push rod pushes the swing driving piece to swing and adjusts the swing angle of the head assembly.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of robots, and particularly relates to an upper body structure and a humanoid robot. BACKGROUND

[0002] A humanoid robot is an intelligent robot that imitates the shape and behavior characteristics of a human being. With the continuous progress of science and technology, the development of humanoid robots is increasingly valued.

[0003] In the related art, the upper body structure of a humanoid robot includes a trunk and a head connected to the trunk, and the head can move relative to the trunk. In the prior art, the movement of the head of the humanoid robot relative to the trunk is not accurate enough, resulting in poor flexibility of the head of the humanoid robot and poor human simulation effect of the humanoid robot. SUMMARY

[0004] The application discloses an upper body structure and a humanoid robot to solve or at least partially solve the problem in the related art that the movement of the head of the humanoid robot relative to the trunk is not accurate enough, resulting in poor flexibility of the head of the humanoid robot and poor human simulation effect of the humanoid robot.

[0005] To solve the above technical problems, the application is implemented as follows:

[0006] In a first aspect, the application discloses an upper body structure, which is used in a humanoid robot, and includes a trunk assembly, a head assembly, and a neck assembly. The head assembly is spaced apart from the trunk assembly. The neck assembly is connected between the trunk assembly and the head assembly. The neck assembly includes a rotation driving member, a pitch driving member, a linear push rod, and a swing driving member. The rotation driving member is connected between the trunk assembly and the pitch driving member. The rotation driving member rotates around a first axis to drive the pitch driving member, the linear push rod, the swing driving member, and the head assembly to rotate around the first axis. The pitch driving member is connected between the rotation driving member and the linear push rod. The pitch driving member rotates around a second axis to drive the linear push rod, the swing driving member, and the head assembly to pitch around the second axis. The second axis intersects the first axis. One end of the linear push rod is connected to the pitch driving member, and the other end of the linear push rod is connected to the swing driving member. The swing driving member is connected to the head assembly. The swing driving member rotates around a third axis to drive the head assembly to swing around the third axis. The linear push rod drives the swing driving member to swing to adjust the swing angle of the head assembly. The third axis intersects the first axis and the second axis.

[0007] Optionally, the rotation driving member, the pitching driving member, the linear push rod and the swinging driving member are connected in series.

[0008] Optionally, the neck assembly further comprises an encoder, the encoder being electrically connected to the linear push rod and the swinging driving member, and the encoder being configured to record a swinging angle of the swinging driving member to control opening and closing of the linear push rod.

[0009] Optionally, the neck assembly further comprises a connecting member, the connecting member comprising a first connecting part, a connecting rod and a second connecting part, the first connecting part being configured to form a first accommodating cavity, the pitching driving member being arranged in the first accommodating cavity and connected to an inner wall of the first accommodating cavity, one end of the connecting rod being connected to the first connecting part and the other end of the connecting rod being connected to the second connecting part, the second connecting part being configured to form a second accommodating cavity, the swinging driving member being at least partially arranged in the second accommodating cavity and connected to an inner wall of the second accommodating cavity.

[0010] Optionally, one end of the linear push rod is connected to an outer wall of the first connecting part and the other end of the linear push rod is connected to the swinging driving member.

[0011] Optionally, the body assembly comprises a body part, the body part being connected to the rotation driving member, the body part being configured to form a third accommodating cavity, the third accommodating cavity being configured to carry a power battery and a control member of the humanoid robot.

[0012] Optionally, along a height direction of the body part, the third accommodating cavity comprises a first sub-accommodating cavity and a second sub-accommodating cavity, the power battery being arranged in the first sub-accommodating cavity and the control member being arranged in the second sub-accommodating cavity.

[0013] Optionally, the body assembly further comprises a partition member, the partition member being arranged in the third accommodating cavity to divide the third accommodating cavity into the first sub-accommodating cavity and the second sub-accommodating cavity arranged in series along the height direction of the body part.

[0014] Optionally, along a direction perpendicular to the height of the body part, the body part has a first side and a second side arranged oppositely, the upper body structure further comprises a first arm and a second arm, the first arm being connected to the first side and the second arm being connected to the second side.

[0015] In a second aspect, the application further discloses a humanoid robot, comprising the upper body structure and the lower body structure according to the first aspect, and the lower body structure being connected to the upper body structure.

[0016] The application discloses an upper body structure and a humanoid robot, and the upper body structure is used for the humanoid robot, and the upper body structure comprises a trunk assembly, a head assembly, and a neck assembly.

[0017] The rotating driving element in the application can rotate around the first axis to drive the pitching driving element, the linear push rod, the swinging driving element and the head assembly to rotate around the first axis, and the head assembly can realize left and right rotation. The pitching driving element can rotate around the second axis to drive the linear push rod, the swinging driving element and the head assembly to rotate around the first axis, and the head assembly can realize pitching, that is, the head assembly can nod or lift the head. The swinging driving element can rotate around the third axis to drive the head assembly to swing around the third axis, and the head assembly can realize left and right swinging. The linear push rod is connected between the pitching driving element and the swinging driving element, and the swinging driving element is driven to swing through the linear push rod, so as to adjust the swinging angle of the head assembly, so that the swinging angle of the head assembly is more appropriate. Through the above setting, the flexibility of the head assembly of the humanoid robot is enhanced, and the human simulation effect of the humanoid robot is better.

[0018] Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and / or by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and / or additional aspects and advantages of the application will become apparent and be readily appreciated from the description of the embodiments, including the accompanying drawings, in which:

[0020] Figure 1 Fig. 1 shows a front view of the upper body structure in the embodiment of the application;

[0021] Figure 2 This is a side view of the superstructure described in the embodiments of this application;

[0022] Figure 3 This is a top view of the upper body structure described in the embodiments of this application;

[0023] Figure 4 This is an exploded view of the neck assembly described in the embodiments of this application.

[0024] Figure label:

[0025] 10: Torso assembly; 11: Body part; 111: Third accommodating cavity;

[0026] 20: Header components;

[0027] 30: Neck assembly; 31: Rotation drive; 32: Pitch drive; 33: Linear push rod; 34: Oscillating drive; 35: Encoder; 36: Connector; 361: First connecting part; 362: Linkage rod; 363: Second connecting part; 364: First receiving cavity; 365: Second receiving cavity;

[0028] 40: First arm; 41: Second arm;

[0029] X: First axis; Y: Second axis; Z: Third axis. Detailed Implementation

[0030] Embodiments of the present invention will now be described in detail. Examples of these embodiments are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0031] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0032] In the description of this 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," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] Reference Figure 1 The diagram shows a front view of the superstructure described in an embodiment of this application; refer to... Figure 2 A side view of the superstructure described in an embodiment of this application is shown; refer to Figure 3 A top view of the upper body structure described in the embodiments of this application is shown; refer to Figure 4 An exploded view of the neck assembly described in an embodiment of this application is shown.

[0035] like Figures 1 to 4As shown in the figure, this application discloses an upper body structure for a humanoid robot. The upper body structure includes a torso assembly 10; a head assembly 20, which is spaced apart from the torso assembly 10; and a neck assembly 30, which is connected between the torso assembly 10 and the head assembly 20. The neck assembly 30 includes a rotation drive 31, a pitch drive 32, a linear push rod 33, and a swing drive 34. The rotation drive 31 is connected between the torso assembly 10 and the pitch drive 32. The rotation drive 31 rotates around a first axis X to drive the pitch drive 32, the linear push rod 33, the swing drive 34, and the head assembly 20 to rotate around the first axis X. The pitch drive 32 is connected between the rotation drive 31 and the linear push rod 33. The pitch drive 32 rotates around the second axis Y to drive the linear push rod 33, the swing drive 34 and the head assembly 20 to pitch around the second axis Y, which intersects with the first axis X. One end of the linear push rod 33 is connected to the pitch drive 32 and the other end is connected to the swing drive 34. The swing drive 34 is connected to the head assembly 20. The swing drive 34 rotates around the third axis Z to drive the head assembly 20 to swing around the third axis Z. The linear push rod 33 pushes the swing drive 34 to swing to adjust the swing angle of the head assembly 20. The third axis Z intersects with the first axis X and the second axis Y.

[0036] This application discloses an upper body structure for use in a humanoid robot. The upper body structure includes, but is not limited to, a torso assembly 10, a head assembly 20, a neck assembly 30, and two arms of the humanoid robot.

[0037] like Figures 1 to 4 As shown, the upper body structure disclosed in this application includes a torso assembly 10, which can support other components. A head assembly 20 is connected to the torso assembly 10 via a neck assembly 30. Movement of the neck assembly 30 can drive movement of the head assembly 20, allowing the head assembly 20 to move relative to the torso assembly 10, thereby enabling the head assembly 20 to perform different actions.

[0038] like Figure 4 As shown, the neck assembly 30 disclosed in this application includes a rotation drive 31, a pitch drive 32, a linear actuator 33, and a swing drive 34. The rotation drive 31 has a first axis X, which extends along the height direction of the upper body structure. The rotation drive 31 is connected between the torso assembly 10 and the pitch drive 32. Rotation of the rotation drive 31 along the first axis X drives the pitch drive 32, the linear actuator 33, the swing drive 34, and the head assembly 20 to rotate along the first axis X, thereby enabling the head assembly 20 to rotate left and right along the first axis X.

[0039] The pitch drive 32 in this embodiment has a second axis Y, which intersects with the first axis X. Preferably, the second axis Y is perpendicular to the first axis X. The following description will use the example of the second axis Y being perpendicular to the first axis X to illustrate the embodiments of this application.

[0040] like Figure 4 As shown, the pitch drive 32 is connected between the rotation drive 31 and the linear push rod 33. The pitch drive 32 can rotate around the second axis Y, thereby driving the linear push rod 33, the swing drive 34 and the head assembly 20 to rotate along the second axis Y, so as to realize the pitch of the head assembly 20 along the second axis Y, that is, to realize the nodding or raising of the head assembly 20.

[0041] The swing drive 34 in this embodiment has a third axis Z, which intersects with the first axis X and the second axis Y. Preferably, the third axis Z is perpendicular to the first axis X and the second axis Y. The following will use the example of the third axis Z being perpendicular to the first axis X and the second axis Y to describe the embodiments of this application.

[0042] In this embodiment, one end of the linear actuator 33 is connected to the pitch drive 32, and the other end of the linear actuator 33 is connected to the oscillation drive 34. The oscillation drive 34 is connected to the head assembly 20. The oscillation drive 34 can rotate around the third axis Z, thereby driving the head assembly 20 to rotate along the third axis Z, so as to realize the oscillation of the head assembly 20 along the third axis Z, that is, to realize the left and right oscillation of the head assembly 20.

[0043] It should be noted that in this embodiment, the linear push rod 33 is connected between the pitch drive 32 and the swing drive 34. The linear push rod 33 pushes the swing drive 34 to swing, thereby adjusting the swing angle of the head assembly 20 and making the swing angle of the head assembly 20 more suitable. In other words, the above setting can enhance the flexibility of the humanoid robot head assembly 20 and make the humanoid robot more humanoid.

[0044] In some alternative embodiments, the rotation drive 31, the pitch drive 32, the linear actuator 33, and the oscillation drive 34 are connected in series.

[0045] In this embodiment, the rotation drive 31, pitch drive 32, linear push rod 33 and swing drive 34 are connected in series to simplify the drive control of the upper body structure, making the movement of the humanoid robot head assembly 20 more similar to that of a human.

[0046] It should be noted that the sequential connection of the rotation drive 31, pitch drive 32, linear actuator 33, and oscillation drive 34 means that the output end of the rotation drive 31 is connected to the input end of the pitch drive 32, the output end of the pitch drive 32 is connected to the input end of the linear actuator 33, and the output end of the linear actuator 33 is connected to the input end of the oscillation drive 34.

[0047] In some alternative embodiments, such as Figures 1 to 4 As shown, the neck assembly 30 also includes an encoder 35, which is electrically connected to the linear push rod 33 and the oscillating drive 34. The encoder 35 is used to record the oscillation angle of the oscillating drive 34 to control the opening and closing of the linear push rod 33.

[0048] like Figures 1 to 4 As shown, the neck assembly 30 disclosed in this application embodiment includes an encoder 35, which is electrically connected to a linear push rod 33 and a swing drive member 34. The encoder 35 identifies the swing angle of the swing drive member 34 and controls the opening and closing of the linear push rod 33. The linear push rod 33 pushes the swing drive member 34 to swing to a certain angle to adjust the swing angle of the head assembly 20, making the swing angle of the head assembly 20 more suitable.

[0049] When the swing drive 34 does not swing to the required angle, the encoder 35 controls the linear push rod 33 to open, and the linear push rod 33 pushes the swing drive 34 to swing, so that the swing drive 34 can swing to the required angle, making the swing angle of the head assembly 20 more appropriate. When the swing drive 34 swings to the required angle, the encoder 35 controls the linear push rod 33 to close, and the linear push rod 33 no longer pushes the swing drive 34 to swing.

[0050] In some alternative embodiments, such as Figures 1 to 4 As shown, the neck assembly 30 also includes a connector 36, which includes a first connecting portion 361, a connecting rod 362, and a second connecting portion 363. The first connecting portion 361 encloses a first receiving cavity 364. A pitch drive 32 is disposed within the first receiving cavity 364 and connected to the inner wall of the first receiving cavity 364. One end of the connecting rod 362 is connected to the first connecting portion 361, and the other end is connected to the second connecting portion 363. The second connecting portion 363 encloses a second receiving cavity 365. A swing drive 34 is at least partially disposed within the second receiving cavity 365 and connected to the inner wall of the second receiving cavity 365.

[0051] like Figures 1 to 4As shown in the embodiment of this application, a connector 36 is provided between the pitch drive 32 and the oscillation drive 34. The connector 36 includes a first connecting portion 361, a connecting rod 362, and a second connecting portion 363. The first connecting portion 361 encloses a first receiving cavity 364, and the pitch drive 32 is disposed within the first receiving cavity 364 and connected to the inner wall of the first receiving cavity 364, so as to support the pitch drive 32 through the first connecting portion 361 and protect the pitch drive 32.

[0052] For example, along the second axis Y, the first connecting part 361 includes a first sidewall and a second sidewall disposed opposite to each other, the pitch drive 32 is disposed between the first sidewall and the second sidewall, and one end of the pitch drive 32 is rotatably connected to the first sidewall and the other end is rotatably connected to the second sidewall.

[0053] like Figure 4 As shown, one end of the connecting rod 362 is connected to the first connecting portion 361, and the other end is connected to the second connecting portion 363. Exemplarily, one end of the connecting rod 362 is fixedly connected to the first connecting portion 361, and the other end is fixedly connected to the second connecting portion 363. Alternatively, the connecting rod 362 is integrally formed with the first connecting portion 361 and the second connecting portion 363. In short, there is no mutual fixation between the connecting rod 362, the first connecting portion 361, and the second connecting portion 363; they are fixed connections.

[0054] In this embodiment, the second connecting portion 363 surrounds and forms a second receiving cavity 365. The swing driving member 34 is at least partially disposed in the second receiving cavity 365 and connected to the inner wall of the second receiving cavity 365, so as to support the swing driving member 34 through the second connecting portion 363 and protect the swing driving member 34.

[0055] For example, along the second axis Y, the second connecting portion 363 includes a third sidewall and a fourth sidewall disposed opposite to each other, and a swing drive member 34 is disposed between the third sidewall and the fourth sidewall, with one end of the swing drive member 34 rotating to connect to the third sidewall and the other end rotating to connect to the fourth sidewall.

[0056] In this application, by providing a connector 36 between the pitch drive 32 and the yaw drive 34, the pitch drive 32 and the yaw drive 34 are fixed through the connector 36, thereby improving the reliability of the neck assembly 30.

[0057] In some alternative embodiments, such as Figure 4 As shown, one end of the linear push rod 33 is connected to the outer wall of the first connecting part 361, and the other end is connected to the swing drive member 34.

[0058] like Figure 4As shown in this embodiment, one end of the linear push rod 33 is connected to the outer wall of the first connecting portion 361 to support one end of the linear push rod 33 via the outer wall of the first connecting portion 361. The other end of the linear push rod 33 is connected to the swing drive member 34 so that the linear push rod 33 can push the swing drive member 34, allowing the swing drive member 34 to swing to the required angle. This adjusts the swing angle of the head assembly 20, making the swing angle of the head assembly 20 more suitable.

[0059] In some alternative embodiments, such as Figure 1 As shown, the body assembly 10 includes a body part 11, which is connected to the rotation drive member 31. The body part 11 encloses and forms a third receiving cavity 111, which is used to carry the power battery and control components of the humanoid robot.

[0060] like Figure 1 As shown, the body assembly 10 in this embodiment includes a body part 11, a rotation drive 31 connected to the body part 11, and a third receiving cavity 111 formed inside the body part 11. The third receiving cavity 111 carries the power battery and control components of the humanoid robot, so as to make the integration of the humanoid robot higher.

[0061] For example, along the height direction of the body portion 11, the power battery and control components are sequentially stacked within the third receiving cavity 111. Alternatively, along the height direction perpendicular to the body portion 11, the power battery and control components are sequentially arranged within the third receiving cavity 111. Of course, in this embodiment, the specific arrangement of the power battery and control components within the third receiving cavity 111 is not overly restricted; in practical applications, those skilled in the art can configure it as needed.

[0062] In some alternative embodiments, along the height direction of the body portion 11, the third receiving cavity 111 includes a first sub-receiving cavity and a second sub-receiving cavity, with the power battery disposed in the first sub-receiving cavity and the control unit disposed in the second sub-receiving cavity.

[0063] In this embodiment, the third accommodating cavity is divided into a first sub-accommodating cavity and a second sub-accommodating cavity arranged sequentially along the height direction of the body. The power battery is arranged in the first sub-accommodating cavity and the control unit is arranged in the second sub-accommodating cavity, so as to integrate the power battery and the control unit into the body 11, making the humanoid robot more integrated and more compact overall.

[0064] In some alternative embodiments, the body assembly 10 further includes a spacer disposed within the third receiving cavity 111 to divide the third receiving cavity 111 into a first sub-receiving cavity and a second sub-receiving cavity arranged sequentially along the height direction of the body portion 11.

[0065] In this embodiment, a spacer is provided within the third receiving cavity 111 to divide it into a first sub-receiving cavity and a second receiving cavity. The spacer enhances the strength of the body portion 11, improving its reliability. Furthermore, the spacer optimizes the internal space of the third receiving cavity 111, making its internal space more rationally divided and facilitating the placement of the power battery and control components within it.

[0066] In some alternative embodiments, such as Figures 1 to 3 As shown, along the height direction perpendicular to the torso 11, the torso 11 has a first side and a second side arranged opposite to each other; the upper body structure also includes a first arm 40 and a second arm 41, the first arm 40 being connected to the first side and the second arm 41 being connected to the second side.

[0067] like Figures 1 to 3 As shown, in this embodiment of the application, the first arm 40 is connected to the first side of the body portion 11, and the second arm 41 is connected to the second side of the body portion 11, so that the first arm 40 and the second arm 41 are fixed by the body portion 11, and the first arm 40 and the second arm 41 are respectively disposed on both sides of the body portion 11.

[0068] This application discloses an upper body structure for a humanoid robot. The upper body structure includes a torso assembly; a head assembly, which is spaced apart from the torso assembly; and a neck assembly connected between the torso assembly and the head assembly. The neck assembly includes a rotation drive, a pitch drive, a linear actuator, and a oscillation drive. The rotation drive is connected between the torso assembly and the pitch drive, and rotates about a first axis to drive the pitch drive, the linear actuator, the oscillation drive, and the head assembly to rotate about the first axis. The pitch drive is connected to... Between the rotational drive and the linear push rod, the pitch drive rotates about a second axis to drive the linear push rod, the oscillation drive, and the head assembly to pitch about the second axis, which intersects the first axis; one end of the linear push rod is connected to the pitch drive and the other end is connected to the oscillation drive, which is connected to the head assembly; the oscillation drive rotates about a third axis to drive the head assembly to oscillate about the third axis; the linear push rod pushes the oscillation drive to oscillate to adjust the oscillation angle of the head assembly; the third axis intersects the first axis and the second axis.

[0069] In this embodiment, the rotation drive can rotate around a first axis, driving the pitch drive, linear push rod, oscillation drive, and head assembly to rotate around the first axis, enabling the head assembly to rotate left and right. The pitch drive can rotate around a second axis, driving the linear push rod, oscillation drive, and head assembly to rotate around the first axis, enabling the head assembly to pitch, i.e., to nod or raise its head. The oscillation drive can rotate around a third axis, driving the head assembly to oscillate around the third axis, enabling the head assembly to oscillate left and right. The linear push rod connects the pitch drive and the oscillation drive, pushing the oscillation drive to adjust the oscillation angle of the head assembly, making the oscillation angle of the head assembly more suitable. Through the above settings, the flexibility of the humanoid robot's head assembly is enhanced, resulting in a better humanoid effect for the humanoid robot.

[0070] This application also discloses a humanoid robot, which includes the upper body structure and lower body structure described in the above embodiments, and the lower body structure is connected to the upper body structure.

[0071] It should be noted that the upper body structure of the humanoid robot disclosed in this application is the same as that described in the above embodiments, and its beneficial effects are also the same or similar. Further details will not be repeated here.

[0072] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0073] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A superstructure, characterized in that, The upper body structure is used for a humanoid robot, and the upper body structure includes: Torso assembly (10); A head assembly (20) is provided at a distance from the torso assembly (10); A neck assembly (30) is connected between the torso assembly (10) and the head assembly (20), the neck assembly (30) including a rotation drive (31), a pitch drive (32), a linear actuator (33) and a swing drive (34); The rotation drive (31) is connected between the torso assembly (10) and the pitch drive (32). The rotation drive (31) rotates around the first axis (X) to drive the pitch drive (32), the linear push rod (33), the swing drive (34) and the head assembly (20) to rotate around the first axis (X). The pitch drive (32) is connected between the rotation drive (31) and the linear push rod (33). The pitch drive (32) rotates about the second axis (Y) to drive the linear push rod (33), the swing drive (34) and the head assembly (20) to pitch about the second axis (Y). The second axis (Y) intersects the first axis (X). One end of the linear push rod (33) is connected to the pitch drive (32), and the other end is connected to the swing drive (34). The swing drive (34) is connected to the head assembly (20). The swing drive (34) rotates around the third axis (Z) to drive the head assembly (20) to swing around the third axis (Z). The linear push rod (33) pushes the swing drive (34) to swing to adjust the swing angle of the head assembly (20). The third axis (Z) intersects the first axis (X) and the second axis (Y).

2. The upper body structure according to claim 1, characterized in that, The rotation drive (31), the pitch drive (32), the linear push rod (33), and the swing drive (34) are connected in series.

3. The upper body structure according to claim 1, characterized in that, The neck assembly (30) also includes an encoder (35) electrically connected to the linear push rod (33) and the swing drive (34). The encoder (35) is used to record the swing angle of the swing drive (34) to control the opening and closing of the linear push rod (33).

4. The upper body structure according to claim 1, characterized in that, The neck assembly (30) further includes a connector (36), which includes a first connecting part (361), a connecting rod (362), and a second connecting part (363). The first connecting part (361) encloses a first receiving cavity (364), and the pitch drive (32) is disposed in the first receiving cavity (364) and connected to the inner wall of the first receiving cavity (364). One end of the connecting rod (362) is connected to the first connecting part (361), and the other end is connected to the second connecting part (363). The second connecting part (363) surrounds and forms a second receiving cavity (365). The swing drive (34) is at least partially disposed in the second receiving cavity (365) and connected to the inner wall of the second receiving cavity (365).

5. The upper body structure according to claim 4, characterized in that, One end of the linear push rod (33) is connected to the outer wall of the first connecting part (361), and the other end is connected to the swing drive (34).

6. The upper body structure according to any one of claims 1-5, characterized in that, The body assembly (10) includes a body part (11), The body part (11) is connected to the rotation drive (31), and the body part (11) encloses to form a third receiving cavity (111), which is used to carry the power battery and control components of the humanoid robot.

7. The upper body structure according to claim 6, characterized in that, Along the height direction of the body part (11), the third receiving cavity (111) includes a first sub-receiving cavity and a second sub-receiving cavity, the power battery is disposed in the first sub-receiving cavity, and the control unit is disposed in the second sub-receiving cavity.

8. The upper body structure according to claim 7, characterized in that, The body assembly (10) further includes a spacer disposed within the third receiving cavity (111) to divide the third receiving cavity (111) into a first sub-receiving cavity and a second sub-receiving cavity arranged sequentially along the height direction of the body part (11).

9. The upper body structure according to claim 8, characterized in that, Along a direction perpendicular to the height of the body part (11), the body part (11) has a first side and a second side disposed opposite to each other; The upper body structure also includes a first arm (40) and a second arm (41), the first arm (40) being connected to the first side and the second arm (41) being connected to the second side.

10. A humanoid robot, characterized in that, It includes an upper body structure and a lower body structure as described in any one of claims 1-9, wherein the lower body structure is connected to the upper body structure.

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