Head and neck assembly and humanoid robot

Abstract

A head and neck assembly and a humanoid robot, the head and neck assembly includes a neck structure and a head structure, the neck structure includes a first driving member and a joint, the joint is connected to the rotor of the first driving member, and the joint protrudes from the stator of the first driving member; the head structure includes a head shell and a control module, the head shell encloses a receiving space, the control module is received in the receiving space and connected and fixed to the head shell, and the head shell is used to support the control module; the outer surface of the head shell is recessed to form a first receiving groove, the joint extends into the first receiving groove and is connected and fixed to the bottom wall of the receiving groove, the outer peripheral surface of the joint is adapted to the inner peripheral wall of the first receiving groove and has a first spacing, and the first spacing is less than or equal to a first preset value. The neck structure and the head structure of the head and neck assembly in the present application are easy to assemble.

Description

Technical Field

[0001] The present application relates to the technical field of humanoid robots, and in particular to a head and neck assembly and a humanoid robot. Background Art

[0002] Humanoid robots can imitate the appearance and movement posture of the human body. Currently, the research and development of humanoid robots has received more and more attention.

[0003] The existing humanoid robot has an unreasonable structural design of the head and neck, which is not easy to assemble. Summary of the invention

[0004] The purpose of the present application is to provide a head and neck assembly and a humanoid robot to solve the problem of inconvenient assembly between the head and neck of the humanoid robot.

[0005] To achieve the purpose of this application, this application provides the following technical solutions:

[0006] In the first aspect, the present application provides a head and neck assembly for a humanoid robot, comprising a neck structure and a head structure, the neck structure comprising a first driving member and a joint, the joint being connected to the rotor of the first driving member and protruding from the stator of the first driving member; the head structure comprising a head shell and a control module, the head shell enclosing a receiving space, the control module being received in the receiving space and connected and fixed to the head shell, the head shell being used to support the control module; the outer surface of the head shell is recessed to form a first receiving groove, the joint extends into the first receiving groove and is connected and fixed to the bottom wall of the receiving groove, the outer circumferential surface of the joint is adapted to the inner circumferential wall of the first receiving groove and has a first spacing, the first spacing is less than or equal to a first preset value.

[0007] The head and neck assembly in the embodiment of the present application is connected to the rotor of the first driving member by setting a joint of the neck structure and extending into the first receiving groove formed by the depression on the outer surface of the head shell, and is fixed to the bottom wall of the receiving groove. The joint and the head shell are precisely positioned and easy to assemble. The outer peripheral surface of the joint is adapted to the inner peripheral wall of the first receiving groove. The inner peripheral wall of the first receiving groove also serves as a limit for the joint, thereby preventing the head structure from shaking relative to the neck structure after installation, thereby improving the connection stability.

[0008] In one embodiment, the joint includes a first cylinder and a second cylinder, the first cylinder and the second cylinder are coaxially arranged, and the first cylinder is connected to one end of the second cylinder, the first cylinder is connected to the rotor of the first driving member, the end of the second cylinder away from the first cylinder is connected and fixed to the bottom wall of the accommodating groove, the surface of the second cylinder facing the first driving member is spaced from the stator of the first driving member, and the outer diameter of the first cylinder is smaller than the outer diameter of the second cylinder.

[0009] With such arrangement, the surface of the second cylinder facing the first driving member is spaced apart from the stator of the first driving member, thereby preventing the second cylinder from interfering with the stator of the first driving member during rotation. The connection area between the second cylinder and the bottom wall of the first accommodating groove is large and the connection is stable.

[0010] In one embodiment, a limiting ring is further provided on the surface of the first cylinder facing away from the second cylinder, and the limiting ring and the end surface of the first cylinder facing the first driving member enclose a accommodating space, the rotor of the first driving member extends into the accommodating space, and the outer circumferential surface of the rotor of the first driving member is adapted to the inner circumferential wall of the limiting ring; there is a gap between the rotor and the stator at the end surface of the first driving member facing the first cylinder, and at least a portion of the limiting ring is accommodated in the gap.

[0011] In this way, the limiting ring can limit the rotor of the first driving member, and at least a part of the limiting ring is accommodated in the gap between the rotor and the stator at the end face of the first driving member facing the first cylinder, so as to limit the limiting ring and then limit the joint, which can make the connection between the joint and the first driving member more stable and less prone to displacement.

[0012] In one embodiment, the neck structure also includes a mounting shell and a neck sleeve, the mounting shell is a cylindrical structure with openings at both ends, one end opening of the mounting shell is sleeved on the outer periphery of an end of the first driving member away from the head structure, the other end opening of the mounting shell is located at the outer periphery of the joint, the neck sleeve is sleeved on the outer periphery of the mounting shell, the end of the neck sleeve facing the head structure is connected to the opening of the mounting shell facing the head structure, the end of the neck sleeve away from the head structure is used to connect to the torso assembly of the humanoid robot, and the neck sleeve is a flexible structure.

[0013] By setting the neck structure to include a mounting shell and a neck sheath, one end of the mounting shell is sleeved on the periphery of the end of the first driving member away from the head structure, and the neck sheath is sleeved on the periphery of the mounting shell, the internal space of the neck sheath can be fully utilized, and the various supporting members do not interfere with each other, thereby improving space utilization. The mounting shell connects the first driving member and the neck sheath, and the mounting shell and the neck sheath as a whole will not follow the rotor movement of the first driving member when the humanoid robot turns its head, thereby maintaining an aesthetic appearance.

[0014] In one embodiment, from a direction away from the head structure to a direction close to the head structure, the mounting shell has an expanding structure, and the neck sheath has a shrinking structure.

[0015] With such arrangement, when the head structure nods or shakes, the outer peripheral surface of the mounting shell is consistent with the shape of the neck cover after deformation during rotation, and the neck cover will not be deformed due to the abutment between the mounting shell and the neck cover, thus achieving a high degree of anthropomorphism.

[0016] In one embodiment, the neck structure also includes a pressure cover, and the neck sleeve covers the end surface of the mounting shell facing the head structure. The pressure cover is arranged on one side of the end surface of the mounting shell facing the head structure and is located on the surface of the neck sleeve facing away from the mounting shell, and the pressure cover, the neck sleeve and the mounting shell are connected and fixed.

[0017] By arranging the pressure cover, the neck sleeve and the installation shell of the neck structure in sequence and connecting them, the connection between the installation shell, the neck sleeve and the pressure cover is stable, the connection method is simple, and the neck sleeve is not easy to fall off.

[0018] In one embodiment, the outer surface of the head shell is recessed to form a second accommodating groove, the bottom wall of the second accommodating groove is recessed to form the first accommodating groove, the neck guard sleeve is received in the second accommodating groove toward one end of the head structure, and the neck guard sleeve is spaced from the inner circumferential wall of the second accommodating groove.

[0019] By setting the outer surface of the head shell to be concave to form a second receiving groove, the end of the neck sheath facing the head structure is received in the second receiving groove, and the head shell can play a certain shielding role on the connection between the neck sheath and the mounting shell, thereby improving the aesthetics. There is also a gap between the neck sheath and the head shell to avoid interference between the head structure and the gland and the neck sheath during rotation.

[0020] In one embodiment, the first driving member includes a supporting shell, a main body and a plug-in portion, the supporting shell is sleeved on the main body, the plug-in portion is electrically connected to the main body, and an opening at one end of the mounting shell is sleeved on the outer periphery of an end of the supporting shell away from the head structure; the mounting shell is provided with a first avoidance hole, and the supporting shell is correspondingly provided with a second avoidance hole, the first avoidance hole is connected with the second avoidance hole, the plug-in portion extends from the first avoidance hole and the second avoidance hole, and a wiring hole is also provided on the bottom wall of the second accommodating groove, and the wiring hole connects the first avoidance hole and the accommodating space.

[0021] By arranging the plug-in portion of the first driving member to extend from the first avoidance hole of the mounting shell and the second avoidance hole of the supporting shell, and arranging them correspondingly to the wiring holes, it is convenient to realize the electrical connection between the first driving member and the outside, and the wiring is convenient.

[0022] In one embodiment, the neck structure further includes a conversion member, which is connected to an end of the first driving member away from the head structure; the neck structure further includes a second driving member, which is transmission-connected to the conversion member.

[0023] By setting an adapter with one end connected to the first driving member and the other end connected to the second driving member, the rotor of the second driving member is transmission-connected to the adapter. Under the drive of the first driving member and the second driving member, the head structure can move with at least two degrees of freedom. The head structure has a large range of motion and a high degree of anthropomorphism.

[0024] In one embodiment, the neck structure also includes a support member and a transmission member, the support member includes a first connecting plate and two mounting plates that are opposite to and spaced apart from each other, the two mounting plates are connected to the first connecting plate and protrude from the surface of the first connecting plate facing the adapter, the first connecting plate is used to be connected and fixed to the torso assembly of the humanoid robot, each of the mounting plates is installed with a second driving member, and the transmission member is connected to the second driving member and the adapter.

[0025] By setting up a support member, and the first connecting plate of the support member is connected to the torso component, and a second driving member is installed on each of the two mounting plates, the support member can provide support for the neck structure, and the head structure can nod or shake its head under the drive of the two second driving members. The transmission member will not occupy too much space of the neck structure, and the overall layout of the neck structure is compact, which can reduce the size of the neck structure and improve space utilization.

[0026] In one embodiment, the adapter also includes an adapter portion and a first mounting portion, the adapter portion is connected to one end of the first support member away from the head structure, the adapter portion is provided with a mounting groove from the end facing away from the first driving member, the first mounting portion is accommodated in the mounting groove and connected to two opposite side walls of the mounting groove; the first mounting portion is provided with a receiving groove, one end of the transmission member away from the rotor of the second driving member is accommodated in the receiving groove and connected to the inner wall surface of the receiving groove.

[0027] By setting a first mounting part, and connecting the first mounting part to the adapter part, and connecting the transmission part to the first mounting part, the second driving part transmits power to the adapter part through the transmission part, and then drives the adapter part to drive the head structure to rotate around the axis. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the two second driving parts into rotation of the adapter part and the head structure.

[0028] In one embodiment, the adapter also includes a second mounting portion, which is rotatably connected to two side walls opposite to the mounting groove and is spaced apart from the first mounting portion; the support member also includes a second connecting plate and a connecting portion, the second connecting plate is connected to the first connecting plate and protrudes from the surface of the first connecting plate facing the adapter, the connecting portion is provided at one end of the second connecting plate away from the first connecting plate, and the second mounting portion is also rotatably connected to the connecting portion.

[0029] By setting the second mounting part, the second mounting part is rotatably connected with the connecting part of the adapter part and the supporting member, so that the nodding and shaking movements of the head structure can be realized, and the transmission structure is simple and compact and occupies little space.

[0030] In one embodiment, an accommodating space is formed between the first connecting plate, the second connecting plate and the two mounting plates, at least a portion of the transmission member is accommodated in the accommodating space, and the first connecting plate protrudes from a surface of the second connecting plate facing away from the accommodating space.

[0031] Such an arrangement can increase the connection area between the first connecting plate and the torso component, the connection between the first connecting plate and the torso component is more stable, the transmission member is accommodated in the accommodating space, the neck structure is compact, the size of the neck structure can be reduced, and the space utilization rate is improved.

[0032] In a second aspect, the present application further provides a humanoid robot, comprising a trunk component and a head and neck component as described in any one of the various embodiments of the first aspect, wherein the head and neck component is connected to the trunk component.

[0033] The humanoid robot in the present application has a unique head and neck assembly, and the connection between the neck structure, the head structure and the torso assembly is stable and simple in structure, which can reduce the difficulty of assembling the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 is a perspective view of a head and neck assembly of one embodiment;

[0036] Figure 2 is an exploded schematic diagram of a partial neck structure of an embodiment;

[0037] Figure 3 is an exploded schematic diagram of a head structure of an embodiment;

[0038] Figure 4 is a perspective view of a first housing of an embodiment;

[0039] Figure 5 is a perspective view of a joint of an embodiment;

[0040] Figure 6 is a partial cross-sectional schematic diagram of a head and neck assembly of an embodiment;

[0041] Figure 7 is a three-dimensional diagram of a partial neck structure of an embodiment;

[0042] Figure 8 is a perspective view of a mounting housing of an embodiment;

[0043] Fig. 9 is a stereoscopic view of a gland of an embodiment;

[0044] Fig.10 is an exploded schematic diagram of a partial neck structure of an embodiment;

[0045] Fig.11 is a three-dimensional view of a support member of an embodiment.

[0046] Description of reference numerals:

[0047] 1000-head and neck assembly;

[0048] 100-neck structure, 10-joint, 11-first cylinder, 12-second cylinder, 13-limiting ring, 14-accommodating space, 20-first driving member, 21-plug-in portion, 22-main body, 30-installation shell, 31-accommodating cavity, 32-first end surface, 33-second end surface, 34-connecting wall, 35-first avoidance hole, 40-adapter, 41-support shell, 411-second avoidance hole, 42-adapter, 421-installation groove, 43-first installation Mounting part, 431-accommodating groove, 44-second mounting part, 50-neck sheath, 51-accommodating cavity, 52-protruding part, 60-pressure cover, 61-connecting groove, 70-support member, 71-first connecting plate, 72-mounting plate, 73-accommodating space, 74-limiting block, 75-second connecting plate, 76-connecting part, 77-reinforcing rib, 80-transmission member, 81-crank, 811-body, 812-limiting part, 82-connecting rod, 90-second driving member;

[0049] 200-head structure, 210-head shell, 211-accommodating space, 212-first shell, 213-second shell, 214-first accommodating groove, 215-second accommodating groove, 216-through hole, 217-wiring hole, 220-control module, 221-support frame, 222-control unit;

[0050] E1-first axis, E2-second axis, E3-third axis;

[0051] X-the left and right direction of the humanoid robot, Y-the front and back direction of the humanoid robot, and Z-the up and down direction of the humanoid robot. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0053] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there can be a central component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there can be a central component at the same time.

[0054] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this application and in the specification are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this application includes any and all combinations of one or more of the related listed items.

[0055] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0056] Please refer to Figure 1 An embodiment of the present application provides a humanoid robot, including a trunk component (not shown in the figure) and a head and neck component 1000 in an embodiment of the present application, and the head and neck component 1000 is connected to the trunk component.

[0057] The head and neck assembly 1000 includes a head structure 200 and a neck structure 100. The specific structures of the head structure 200, the neck structure 100 and the trunk assembly are not limited, and can all be set to a humanoid shape. The head structure 200 is connected to the waist assembly and can rotate relatively to achieve a head and neck function similar to that of the human body structure. For the convenience of subsequent description, a coordinate system XYZ is established, wherein the X direction is the left and right direction of the assembled humanoid robot, the Y direction is the front and back direction of the humanoid robot, and the Z direction is the up and down direction of the humanoid robot.

[0058] Optionally, the neck structure 100 is connected to the torso assembly at one end in the up-down direction Z of the humanoid robot, and is connected to the head structure 200 at the other end. The connection method can be snap connection, screw connection, magnetic connection, etc., and there is no specific limitation.

[0059] Optionally, the neck structure 100 can drive the head structure 200 to rotate relative to the trunk assembly, and the head structure 200 can also rotate relative to the neck structure 100. Considering that the humanoid robot should simulate the appearance and movement posture of the human body as much as possible, the amplitude of the movement of the head structure 200 and the neck structure 100 of the humanoid robot relative to the trunk assembly should simulate the movement amplitude of the human head as much as possible, that is, the head structure 200 and the neck structure 100 can rotate a certain angle relative to the trunk assembly with the vertical direction Z of the humanoid robot as the axis. Similarly, the amplitude of the movement of the head structure 200 of the humanoid robot relative to the neck structure 100 should also simulate the movement amplitude of the human head as much as possible, that is, the head structure 200 can rotate a certain angle relative to the neck structure 100 with the left and right direction X of the humanoid robot as the axis.

[0060] In the embodiment of the present application, by providing a unique head and neck assembly 1000, the connection between the neck structure 100, the head structure 200 and the torso assembly is stable and simple in structure, which can reduce the difficulty of assembling the humanoid robot.

[0061] The neck structure 100 in the embodiment of the present application is described in detail below.

[0062] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The embodiment of the present application provides a head and neck assembly 1000 for a humanoid robot, including a neck structure 100 and a head structure 200. The neck structure 100 includes a first driving member 20 and a joint 10, the joint 10 is connected to the rotor of the first driving member 20, and the joint 10 protrudes from the stator of the first driving member 20.

[0063] The shape of the joint 10 is not specifically limited. In the cross section in the Z direction, the shape of the outer peripheral surface of the joint 10 can be circular, triangular, square, regular polygonal, etc. The specific shape of the joint 10 can refer to any feasible solution, and the embodiment of the present application does not limit it.

[0064] Optionally, the end faces of the rotor and stator of the first driving member 20 facing the joint 10 may be flush, or the end face of the rotor of the first driving member 20 facing the joint 10 may protrude out of the end face of the stator of the first driving member 20 facing the joint 10, or the end face of the stator of the first driving member 20 facing the joint 10 may protrude out of the end face of the rotor of the first driving member 20 facing the joint 10, and the joint 10 may protrude out of the stator of the first driving member 20. All of the above methods are possible and are not specifically limited.

[0065] refer to Figure 3 The head structure 200 includes a head shell 210 and a control module 220 . The head shell 210 encloses a receiving space 211 . The control module 220 is received in the receiving space 211 and is connected and fixed to the head shell 210 . The head shell 210 is used to support the control module 220 .

[0066] Optionally, the head shell 210 can be an integrated structure, that is, the head shell 210 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The head shell 210 can also be a split structure. In one embodiment, the head shell 210 includes a first shell 212 and a second shell 213. The first shell 212 and the second shell 213 are connected and fixed by riveting, clamping, screwing, magnetic connection, etc., and the first shell 212 is also connected and fixed to the neck structure 100.

[0067] The control module 220 includes a support frame 221 and a plurality of control units 222, and the plurality of control units 222 are sequentially arranged along the Y direction and are all connected to the support frame 221. The support frame 221 is connected and fixed to the head shell 210, and the connection method can be riveting, clamping, screwing, magnetic connection, etc., without limitation. In one embodiment, the control module 220 is connected and fixed to the second shell 213 through the support frame 221.

[0068] The outer surface of the head shell 210 is recessed to form a first accommodating groove 214, the connector 10 extends into the first accommodating groove 214 and is connected and fixed to the bottom wall of the accommodating groove, the outer peripheral surface of the connector 10 is adapted to the inner peripheral wall of the first accommodating groove 214 and has a first spacing, and the first spacing is less than or equal to a first preset value.

[0069] Optionally, the first receiving groove 214 is formed on a side of the first shell 212 facing the neck structure 100 .

[0070] The shape of the inner circumferential wall of the first receiving groove 214 corresponds to the shape of the outer circumferential surface of the joint 10. Optionally, the range of the first preset value is 0mm-2mm, and the specific value of the first preset value can be 0mm, 0.2mm, 0.5mm, 0.7mm, 1mm, 1.2mm, 1.5mm, 1.7mm, 2mm, etc., without specific limitation. The first spacing between the outer circumferential surface of the joint 10 and the inner circumferential wall of the first receiving groove 214 is less than or equal to the first preset value, and the first spacing is a natural number. In one embodiment, when the first preset value is equal to 0mm, the first spacing is equal to 0mm.

[0071] The head and neck assembly 1000 in the embodiment of the present application is configured such that the joint 10 of the neck structure 100 is connected to the rotor of the first driving member 20 and extends into the first receiving groove 214 formed by the depression on the outer surface of the head shell 210, and is fixedly connected to the bottom wall of the receiving groove. The joint 10 and the head shell 210 are precisely positioned to facilitate connection, and the outer peripheral surface of the joint 10 is adapted to the inner peripheral wall of the first receiving groove 214. The inner peripheral wall of the first receiving groove 214 also limits the joint 10 to prevent the head structure 200 from shaking relative to the neck structure 100 after installation, thereby improving the connection stability.

[0072] In one embodiment, Figure 5 and Figure 6 As shown, the joint 10 includes a first cylinder 11 and a second cylinder 12, the first cylinder 11 and the second cylinder 12 are coaxially arranged, and the first cylinder 11 is connected to one end of the second cylinder 12, the first cylinder 11 is connected to the rotor of the first driving member 20, and the end of the second cylinder 12 away from the first cylinder 11 is connected and fixed to the bottom wall of the accommodating groove.

[0073] The joint 10 can be an integrated structure, that is, the joint 10 is an integrated structure made by an integrated molding process, and the integrated molding process can be stamping, casting, etc., without limitation. The joint 10 can also be a split structure, and the first cylinder 11 and the second cylinder 12 are connected and fixed by welding, riveting, clamping, screwing, etc. The first cylinder 11 and the rotor of the first driving member 20 can be connected and fixed by welding, riveting, clamping, screwing, etc. The second cylinder 12 and the bottom wall of the first accommodating groove 214 can be connected and fixed by riveting, clamping, screwing, magnetic suction connection, etc., without limitation.

[0074] Optionally, the thickness of the side wall of the second cylinder 12 in the radial direction is not uniform. The side wall thickness of the second cylinder 12 at the connection with the bottom wall of the first accommodating groove 214 is larger, and the side wall thickness of the remaining part is thinner. This arrangement can reduce the deadweight of the joint 10 while ensuring the connection strength.

[0075] The surface of the second cylinder 12 facing the first driving member 20 is spaced apart from the stator of the first driving member 20. When the rotor of the first driving member 20 rotates relative to the stator, the first cylinder 11 connected to the rotor of the first driving member 20 drives the joint 10 and the head structure 200 to rotate, so as to realize the head turning action of the humanoid robot. The surface of the second cylinder 12 facing the first driving member 20 is spaced apart from the stator of the first driving member 20 to avoid interference between the second cylinder 12 and the stator of the first driving member 20 during the rotation process.

[0076] Optionally, the outer diameter of the first barrel 11 is smaller than the outer diameter of the second barrel 12. In this configuration, the connection area between the second barrel 12 and the bottom wall of the first accommodating groove 214 is larger, and the connection is stable.

[0077] In one embodiment, Figure 5 and Figure 6 As shown, a limit ring 13 is also provided on the surface of the first cylinder 11 facing away from the second cylinder 12. The limit ring 13 and the end surface of the first cylinder 11 facing the first driving member 20 enclose a receiving space 14. The rotor of the first driving member 20 extends into the receiving space 14, and the outer peripheral surface of the rotor of the first driving member 20 is adapted to the inner peripheral wall of the limit ring 13.

[0078] The limiting ring 13, the first cylinder 11 and the second cylinder 12 can be an integrated structure or a split structure, and there is no specific limitation. The inner circumferential wall of the limiting ring 13 serves as the side wall of the accommodating space 14, and the end surface of the first cylinder 11 facing the first driving member 20 serves as the bottom wall of the accommodating space 14. The outer circumferential surface of the rotor of the first driving member 20 is adapted to the inner circumferential wall of the limiting ring 13 and has a second spacing, and the second spacing is less than the second preset value.

[0079] Optionally, the second preset value ranges from 0 mm to 2 mm, and the specific value of the second preset value can be 0 mm, 0.2 mm, 0.5 mm, 0.7 mm, 1 mm, 1.2 mm, 1.5 mm, 1.7 mm, 2 mm, etc., without specific limitation. In one embodiment, when the second spacing and the second preset value are both 0 mm, the outer peripheral surface of the rotor of the first driving member 20 is in close contact with the inner peripheral wall of the limiting ring 13.

[0080] There is a gap between the rotor and the stator at the end surface of the first driving member 20 facing the first cylinder 11, and at least part of the limiting ring 13 is accommodated in the gap. Optionally, there is a gap between the outer circumferential surface of the limiting ring 13 and the inner circumferential wall of the stator at the end surface of the first driving member 20 facing the first cylinder 11 to avoid interference.

[0081] In this arrangement, the limit ring 13 can limit the rotor of the first driving member 20, and at least a portion of the limit ring 13 is accommodated in the gap between the rotor and the stator at the end face of the first driving member 20 facing the first cylinder 11, so as to limit the limit ring 13 and further limit the joint 10, which can make the connection between the joint 10 and the first driving member 20 more stable and less prone to displacement.

[0082] In one embodiment, Figure 2 , Figure 6 and Figure 8 As shown, the neck structure 100 also includes a mounting shell 30 and a neck sleeve 50. The mounting shell 30 is a cylindrical structure with openings at both ends. The opening at one end of the mounting shell 30 is sleeved on the outer periphery of the end of the first driving member 20 away from the head structure 200, and the opening at the other end of the mounting shell 30 is located at the outer periphery of the joint 10. The neck sleeve 50 is sleeved on the outer periphery of the mounting shell 30. The end of the neck sleeve 50 facing the head structure 200 is connected to the opening of the mounting shell 30 facing the head structure 200. The end of the neck sleeve 50 away from the head structure 200 is used to connect with the torso component of the humanoid robot. The neck sleeve 50 is a flexible structure.

[0083] The neck guard 50 has a receiving cavity 51, the mounting shell 30 is received in the receiving cavity 51, and the end of the mounting shell 30 facing the head structure 200 is connected to the neck guard 50, and the end of the neck guard 50 away from the head structure 200 is used to connect to the torso component of the humanoid robot. The appearance of the neck guard 50 can be set to imitate the neck of the human body to improve the anthropomorphism of the neck guard 50. The specific shape of the neck guard 50 can refer to any feasible solution, and the embodiment of the present application is not limited.

[0084] The neck sheath 50 is a flexible part, that is, the neck sheath 50 is deformable, so that the neck structure 100 can rotate relative to the torso component of the humanoid robot. Optionally, the neck sheath 50 is a silicone part, a plastic-coated part, etc., without specific limitation. The connection method between the neck sheath 50 and the mounting shell 30 can be clamping, screwing, riveting, etc. Similarly, the connection method between the neck sheath 50 and the torso component of the humanoid robot can be clamping, screwing, riveting, etc., without specific limitation.

[0085] Optionally, the inner wall of the neck cover 50 is provided with a plurality of avoidance grooves spaced apart approximately along the circumferential direction and / or radial direction (from the end of the neck cover 50 away from the head structure 200 to the end of the neck cover 50 facing the head structure 200) to provide deformation space for the neck cover 50 when performing nodding (swinging in the Y direction) and shaking (swinging in the X direction) actions.

[0086] The mounting shell 30 has a receiving cavity 31, and at least a portion of the first driving member 20 is received in the receiving cavity 31. The mounting shell 30 and the outer periphery of one end of the first driving member 20 away from the head structure 200 can be connected by welding, clamping, screwing, riveting, etc., without specific limitation.

[0087] In one embodiment, Figure 2 As shown, the first driving member 20 includes a supporting shell 41 , which is received in the receiving cavity 31 and connected to an end of the mounting shell 30 away from the head shell 210 .

[0088] The mounting shell 30 is received in the receiving cavity 51 of the neck sheath 50, the supporting shell 41 is received in the receiving cavity 31 of the mounting shell 30, and the main body 22 of the first driving member 20 is received in the supporting shell 41. In this way, the internal space of the neck sheath 50 can be fully utilized, and the supporting members do not interfere with each other, thereby improving space utilization.

[0089] By setting the neck structure 100 to include the mounting shell 30 and the neck sheath 50, one end of the mounting shell 30 is sleeved on the outer periphery of the end of the first driving member 20 away from the head structure 200, and the neck sheath 50 is sleeved on the outer periphery of the mounting shell 30, the internal space of the neck sheath 50 can be fully utilized, and the various supporting members do not interfere with each other, thereby improving space utilization. The mounting shell 30 connects the first driving member 20 and the neck sheath 50, and the mounting shell 30 and the neck sheath 50 as a whole will not follow the rotor movement of the first driving member 20 when the humanoid robot turns its head, so as to maintain its appearance.

[0090] In one embodiment, Figure 6 and Figure 8 As shown, from the direction away from the head structure 200 to the direction close to the head structure 200, the mounting shell 30 is an expanding structure, and the neck sheath 50 is a shrinking structure.

[0091] The mounting shell 30 includes a first end face 32 and a second end face 33 facing each other. The first end face 32 is connected to the mounting shell 30 , and the second end face 33 is connected to the neck sheath 50 . In the orthographic projection in the direction from the first end face 32 to the second end face 33 , the first end face 32 is located inside the second end face 33 .

[0092] Optionally, in the orthographic projection from the first end face 32 to the second end face 33 (i.e., in the orthographic projection along the Z direction), the shape of the first end face 32 and the shape of the second end face 33 are similar figures. In a specific embodiment, the first end face 32 and the second end face 33 are both annular, and in the orthographic projection in the Z direction, the first end face 32 is located inside the second end face 33, and the center of the first end face 32 coincides with the center of the second end face 33.

[0093] Optionally, the first end face 32 and the second end face 33 are coaxially arranged circular rings, the outer diameter of the first end face 32 is D1, and the outer diameter of the second end face 33 is D2, satisfying: 1 / 2≤D2 / D1≤4 / 5. When D2 / D1<1 / 2, the size difference between the first end face 32 and the second end face 33 is too large, affecting the structural strength; when D2 / D1>4 / 5, when the head structure 200 swings in the X direction and the Y direction to nod and shake the head, the mounting shell 30 may abut against the neck sheath 50, causing the neck sheath 50 to deform, and the anthropomorphic effect is not good; when 1 / 2≤D2 / D1≤4 / 5, while ensuring the structural strength and connection strength, the outer peripheral surface of the mounting shell 30 is consistent with the shape of the deformed neck sheath 50 when nodding and shaking the head, and the neck sheath 50 will not be deformed due to the abutment between the mounting shell 30 and the neck sheath 50, and the anthropomorphic effect is good.

[0094] Similarly, in the orthographic projection along the Z direction, the end surface where the neck guard 50 is connected to the mounting shell 30 is located inside the end surface where the neck guard 50 is connected to the torso component.

[0095] The first end face 32 of the mounting shell 30 is connected to the mounting shell 30, and the second end face 33 is connected to the neck sheath 50. The mounting shell 30 provides support for the neck sheath 50 through the second end face 33. The size of the second end face 33 is relatively large, and the connection stability between the mounting shell 30 and the neck sheath 50 is high. When the head structure 200 swings in the X direction and the Y direction to nod and shake the head, the outer peripheral surface of the mounting shell 30 is consistent with the shape of the neck sheath 50 after deformation during the action, and the neck sheath 50 will not be deformed due to the abutment between the mounting shell 30 and the neck sheath 50, and the anthropomorphism is high.

[0096] In one embodiment, Figure 8 As shown, the mounting shell 30 further includes a connecting wall 34 , which connects the first end surface 32 and the second end surface 33 . The connecting wall 34 is an arc surface, and the connecting wall 34 is recessed from the outer surface to the inner surface.

[0097] Optionally, the mounting shell 30 is an integrally formed structure, and the integrally formed process may be stamping, casting, etc., without specific limitation. Optionally, the mounting shell 30 is substantially cylindrical, and in the orthographic projection in the X direction and the Y direction, the connecting wall 34 is substantially an isosceles trapezoid, and the waist of the trapezoid may be a straight line or a curve, without specific limitation.

[0098] In a specific embodiment, the connecting wall 34 is an arc surface, and the connecting wall 34 is concave from the outer surface to the inner surface, so that the neck cover 50 will not be deformed due to the abutment between the connecting wall 34 and the neck cover 50 during the swinging process, and the anthropomorphism is high.

[0099] Similarly, in the orthographic projection along the Z direction, the end surface where the neck guard 50 is connected to the mounting shell 30 is located inside the end surface where the neck guard 50 is connected to the torso component, and the side wall of the neck guard 50 is substantially an arc surface.

[0100] With such arrangement, the shape of the neck guard 50 imitates the human neck and has a high degree of anthropomorphism. The end where the mounting shell 30 is connected to the neck guard 50 provides support for the neck guard 50. The size of the end face is relatively large, and the connection stability between the mounting shell 30 and the neck guard 50 is high.

[0101] In one embodiment, Figure 2 , Figure 6 , Figure 8 and Fig. 9 As shown, the neck structure 100 also includes a pressure cap 60, and the neck sleeve 50 covers the end face of the mounting shell 30 facing the head structure 200. The pressure cap 60 is arranged on one side of the end face of the mounting shell 30 facing the head structure 200, and is located on the surface of the neck sleeve 50 facing away from the mounting shell 30, and the pressure cap 60, the neck sleeve 50 and the mounting shell 30 are connected and fixed.

[0102] A connecting groove 61 is opened on the surface of the self-pressing cover 60 toward the mounting shell 30, and the neck sheath 50 includes a protrusion 52, which extends into the connecting groove 61 and is connected to the bottom wall of the connecting groove 61. The surface of the protrusion 52 facing away from the bottom wall of the connecting groove 61 is connected to the first end face 32.

[0103] Optionally, the shape and size of the pressure cover 60 correspond to the shape and size of the second end surface 33. In the Z direction, from the end of the neck structure 100 away from the head structure 200 to the end of the neck structure 100 close to the head structure 200, the first end surface 32 of the mounting shell 30, the raised portion 52 of the neck sheath 50 and the bottom wall of the connecting groove 61 of the mounting shell 30 are connected in sequence, and the connection method can be clamping, screwing, riveting, etc., which is not specifically limited.

[0104] By sequentially arranging and connecting the pressure cover 60, the raised portion 52 of the neck sheath 50 and the mounting shell 30, the mounting shell 30, the neck sheath 50 and the pressure cover 60 are stably connected, the connection method is simple, and the neck sheath 50 is not easy to fall out.

[0105] In one embodiment, Figure 4 and Figure 6 As shown, the outer surface of the head shell 210 is recessed to form a second accommodating groove 215, and the bottom wall of the second accommodating groove 215 is recessed to form a first accommodating groove 214. The neck sheath 50 is received in the second accommodating groove 215 at one end facing the head structure 200, and there is a gap between the neck sheath 50 and the inner peripheral wall of the second accommodating groove 215.

[0106] Optionally, the second receiving groove 215 is connected to the first receiving groove 214. In the orthographic projection in the Z direction, the bottom wall shape of the second receiving groove 215 is similar to the bottom wall shape of the first receiving groove 214, and the bottom wall of the first receiving groove 214 is located inside the bottom wall of the second receiving groove 215.

[0107] Optionally, a through hole 216 is formed on the bottom wall of the first receiving groove 214 , and the through hole 216 communicates the receiving space 211 of the head shell 210 and the first receiving groove 214 .

[0108] Optionally, there is a gap between the pressure cover 60 and the bottom wall of the second receiving groove 215 .

[0109] Optionally, the interval between the gland 60 and the bottom wall of the second receiving groove 215 may range from 2 mm to 10 mm, specifically 2 mm, 3 mm, 5 mm, 7 mm, 8 mm, 9 mm, 10 mm, etc., without specific limitation. The outer peripheral surface of the end of the neck sheath 50 close to the gland 60 is spaced from the inner peripheral wall of the second receiving groove 215, and the interval may range from 2 mm to 10 mm, specifically 2 mm, 3 mm, 5 mm, 7 mm, 8 mm, 9 mm, 10 mm, etc., without specific limitation.

[0110] The outer surface of the head shell 210 is recessed to form a second receiving groove 215, and the end of the neck sheath 50 facing the head structure 200 is received in the second receiving groove 215, so that the head shell 210 can provide a certain shielding effect on the connection between the neck sheath 50 and the mounting shell 30, thereby improving the aesthetics. There is also a gap between the neck sheath 50 and the head shell 210, so as to avoid interference between the head structure 200 and the pressure cover 60 and the neck sheath 50 during rotation.

[0111] In one embodiment, Figure 2 , Figure 4 and Figure 7As shown, the first driving member 20 includes a supporting shell 41, a main body 22 and a plug-in portion 21. The supporting shell 41 is sleeved on the main body 22. The plug-in portion 21 is electrically connected to the main body. An opening at one end of the mounting shell 30 is sleeved on the periphery of an end of the supporting shell 41 away from the head structure 200.

[0112] Optionally, the end surface of the stator of the first driving member 20 facing the first cylinder 11 is connected and fixed to the support shell 41, and the connection method can be snap connection, screw connection, riveting, magnetic connection, etc., which is not specifically limited.

[0113] The connection between the mounting shell 30 and the supporting shell 41 can be welding, clamping, screwing, riveting, etc., without specific limitation. The supporting shell 41 is generally a cylinder, and in the cross section in the Z direction, the supporting shell 41 can be circular, square, triangular, regular polygonal, etc., without limitation. In a specific embodiment, Figure 2 As shown, the cross section of the support shell 41 is a circular cylinder, the outer peripheral surface of the cylinder is provided with a mounting platform, and the mounting shell 30 is connected and fixed to the mounting platform.

[0114] The mounting shell 30 is provided with a first avoidance hole 35, and the supporting shell 41 is correspondingly provided with a second avoidance hole 411, the first avoidance hole 35 is connected with the second avoidance hole 411, the first driving member 20 includes a plug-in portion 21, the plug-in portion 21 extends from the first avoidance hole 35 and the second avoidance hole 411, and the bottom wall of the second accommodating groove 215 is also correspondingly provided with a wiring hole 217, which connects the first avoidance hole 35 and the accommodating space 211.

[0115] The shapes and sizes of the first avoidance hole 35 and the second avoidance hole 411 are not limited. Optionally, the shapes of the first avoidance hole 35 and the second avoidance hole 411 can be circular, square, semicircular, trapezoidal, triangular, etc. The shape of the first avoidance hole 35 and the shape of the second avoidance hole 411 can be the same or different, and at least part of the first avoidance hole 35 can overlap at least part of the second avoidance hole 411, and there is no specific limitation.

[0116] Optionally, the first driving member 20 includes a main body 22 and a plug-in portion 21. The first driving member 20 can be an integrated structure or a split structure, and the main body 22 and the plug-in portion 21 are connected and fixed by means of snap connection, screw connection, magnetic connection, etc., without limitation. The main body 22 is accommodated in the support shell 41, and the main body 22 includes a stator and a rotor, wherein the stator of the main body 22 is connected and fixed to the support shell 41, and the rotor of the main body 22 is connected and fixed to the connector 10. The plug-in portion 21 is used to realize the electrical connection between the main body 22 and the outside, so that the main body 22 can work under external control.

[0117] Optionally, in the Z direction, the position of the wiring hole 217 corresponds to the plug-in portion 21, which is convenient for wiring and electrical connection. The shape of the wiring hole 217 can be square, circular, triangular, rectangular, regular polygonal, etc., without limitation. Optionally, the wiring can be electrically connected from the receiving space 211 of the head structure 200, the receiving cavity 51 of the neck sheath 50 and the plug-in portion 21, or from the receiving space 211 of the head structure 200, the receiving cavity 31 of the mounting shell 30 and the plug-in portion 21, without limitation.

[0118] By setting the plug-in portion 21 of the first driving member 20 to extend from the first avoidance hole 35 of the mounting shell 30 and the second avoidance hole 411 of the supporting shell 41, and correspondingly setting it with the wiring hole 217, it is convenient to realize the electrical connection between the first driving member 20 and the external control member, and the wiring is convenient.

[0119] In one embodiment, Figure 7 and Fig.10 As shown, the neck structure 100 also includes an adapter 40, which is connected to an end of the first driving member 20 away from the head structure 200 and exposed from the mounting shell 30; the neck structure 100 also includes a second driving member 90, and the rotor of the second driving member 90 is transmission-connected to the adapter 40.

[0120] The adapter 40 may be an integrated structure, that is, the adapter 40 is an integrated structure manufactured by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation.

[0121] Optionally, the second driving member 90 may be one or two, and there is no specific limitation. When there is one second driving member 90, the head structure 200 may be driven to rotate around the axis along the X direction (i.e., nodding action) or around the axis along the Y direction (i.e., swinging action); when there are two second driving members 90, one of the two second driving members 90 may drive the head structure 200 to rotate around the axis along the X direction (i.e., nodding action), and the other second driving member 90 may drive the head structure 200 to rotate around the axis along the Y direction (i.e., swinging action), or the two second driving members 90 may work together to drive the head structure 200 to rotate around the axis along the X direction or the Y direction.

[0122] In a specific embodiment, Figure 7 As shown, the first driving member 20 is used to drive the head structure 200 to rotate around the first axis E1; the two second driving members 90 rotate in the same direction and drive the adapter 40 to rotate, so as to drive the head structure 200 to rotate around the second axis E2 to perform a nodding action; the two second driving members 90 rotate in the opposite directions and drive the adapter 40 to rotate, so as to drive the head structure 200 to rotate around the third axis E3 to perform a shaking action. The first axis extends along the Z direction, the second axis extends along the X direction, and the third axis extends along the Y direction.

[0123] Optionally, the first driving member 20 and the second driving member 90 are of the same size. With this arrangement, the power provided by the first driving member 20 and the second driving member 90 is relatively balanced.

[0124] Optionally, the first axis E1, the second axis E2, and the third axis E3 intersect at one point. With this arrangement, the center of gravity of the humanoid robot is relatively stable, and the head structure 200 is not prone to tilting during rotation.

[0125] In one embodiment, Fig.10 As shown, the two second driving members 90 are both located on the side of the adapter 42 facing away from the support shell 41 in the Z direction and are spaced apart from the adapter 42 . The two second driving members 90 are opposite and spaced apart in the X direction.

[0126] By setting an adapter 40 with one end connected to the first driving member 20 and the other end connected to the second driving member 90, the rotor of the second driving member 90 is transmission-connected to the adapter 40. Driven by the first driving member 20 and the second driving member 90, the head structure 200 can move with at least two degrees of freedom. The head structure 200 has a large range of motion and a high degree of anthropomorphism.

[0127] In one embodiment, Fig.10 and Fig.11 As shown, the neck structure 100 further includes a support member 70 and a transmission member 80. The support member 70 includes a first connecting plate 71 and two mounting plates 72 that are opposite and spaced apart. The two mounting plates 72 are both connected to the first connecting plate 71 and protrude from the surface of the first connecting plate 71 that faces the adapter 40. The first connecting plate 71 is used to be connected and fixed to the torso assembly of the humanoid robot. Each mounting plate 72 is installed with a second driving member 90. The transmission member 80 is connected to the second driving member 90 and the adapter 40.

[0128] The support member 70 may be an integrated structure, that is, the support member 70 is an integrated structure made by an integrated molding process, and the integrated molding process may be stamping, casting, etc., without limitation. The support member 70 may also be a split structure, and the first connecting plate 71 and the two mounting plates 72 are connected and fixed by welding, riveting, clamping, screwing, etc.

[0129] Optionally, the first connecting plate 71 and the two mounting plates 72 are both substantially flat plates. In a specific embodiment, the first connecting plate 71 and the mounting plate 72 are split structures, and the two mounting plates 72 are connected and fixed to the first connecting plate 71 by means of snap connection, screw connection, riveting, etc.

[0130] Optionally, the transmission member 80 includes a crank 81 and a connecting rod 82. The crank 81 is fixedly connected to the rotor of the second driving member 90, one end of the connecting rod 82 is connected to the crank 81, and the end of the connecting rod 82 away from the crank 81 is connected to the adapter 42, and the connection method can be clamping, screwing, riveting, etc., which is not specifically limited. The specific shapes of the crank 81 and the connecting rod 82 can refer to any feasible solution, and the embodiment of the present application does not limit it.

[0131] The second driving member 90 transmits power to the adapter 40 through the crank 81 and the connecting rod 82, thereby driving the adapter 40 to drive the head structure 200 to rotate around the second axis or the third axis. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the two second driving members 90 into the rotation of the adapter 40 and the head structure 200.

[0132] Optional, such as Fig.10 and Fig.11 As shown, an accommodation space 73 is formed between the first connecting plate 71 and the two mounting plates 72, and at least part of the transmission member 80 (i.e., at least part of the crank 81 and the connecting rod 82) is accommodated in the accommodation space 73. In this way, the crank 81 and the connecting rod 82 will not occupy too much space of the neck structure 100, and the overall arrangement of the neck structure 100 is compact, which can reduce the size of the neck structure 100 and improve space utilization.

[0133] Optionally, the second driving member 90 is located on a side of the mounting plate 72 facing away from the accommodating space 73 , and a stator of the second driving member 90 is connected and fixed to the mounting plate 72 .

[0134] Optionally, a limit block 74 is further provided on the surface of the mounting plate 72 facing the accommodating space 73, and the limit block 74 is used to limit the rotation angle of the crank 81. The limit block 74 may be one or more, and is not specifically limited. Fig.11 As shown, there are two limit blocks 74 , and the two limit blocks 74 are symmetrically arranged relative to the rotation axis of the second driving member 90 .

[0135] Correspondingly, the crank 81 includes a body 811 and a limiting portion 812, the body 811 is roughly disc-shaped, and the limiting portion 812 is connected to the body 811 and protrudes from the outer peripheral surface of the body 811. When the crank 81 rotates to a certain angle following the rotor of the second driving member 90, the limiting portion 812 abuts against the limiting block 74 to limit the rotation angle of the crank 81, and then transmits to the adapter 40 and the head structure 200 through the connecting rod 82 to limit the rotation angle of the adapter 40 and the head structure 200, and the human-like effect is good.

[0136] By setting a support member 70, and the first connecting plate 71 of the support member 70 is connected to the torso component, and two mounting plates 72 are each installed with a second driving member 90, the support member 70 can provide support for the neck structure 100, and the head structure 200 can nod or shake its head under the drive of the two second driving members 90. At least part of the transmission member 80 is accommodated in the accommodating space 73 formed between the first connecting plate 71 and the mounting plate 72. The transmission member 80 will not occupy too much space of the neck structure 100. The overall layout of the neck structure 100 is compact, which can reduce the size of the neck structure 100 and improve space utilization.

[0137] In one embodiment, Fig.10 As shown, the adapter 40 also includes an adapter portion 42 and a first mounting portion 43. The adapter portion 42 is connected to one end of the first driving member 20 away from the head structure 200. The adapter portion 42 is provided with a mounting groove 421 from the end facing away from the first driving member 20. The first mounting portion 43 is accommodated in the mounting groove 421 and connected to two side walls opposite to the mounting groove 421.

[0138] The shape of the first mounting portion 43 can be cylindrical, prism-shaped, block-shaped, etc., without limitation. In a specific embodiment, Fig.10 As shown, the first mounting portion 43 is roughly cylindrical, and the two opposite ends of the first mounting portion 43 in the X direction are respectively connected and fixed to a side wall of the mounting groove 421 in the X direction. The connection method can be snap connection, screw connection, riveting connection, magnetic connection, etc., and there is no specific limitation.

[0139] The first mounting portion 43 defines a receiving groove 431 , and one end of the transmission member 80 away from the rotor of the second driving member 90 extends into the receiving groove 431 and is connected to the inner wall surface of the receiving groove 431 .

[0140] Optionally, the end of the connecting rod 82 of the transmission member 80 away from the crank 81 extends into the receiving groove 431, and the connection method between the connecting rod 82 and the inner wall surface of the receiving groove 431 can be clamping, screwing, riveting, magnetic connection, etc., without specific limitation. In a specific embodiment, the end of the connecting rod 82 away from the crank 81 is a cylindrical structure, a connecting member is inserted through the cylindrical structure, and the two ends of the connecting member opposite to each other in the Y direction are respectively connected and fixed to an inner wall surface of the receiving groove 431 in the Y direction. With this arrangement, the connection between the transmission member 80 and the adapter 42 is stable and easy to install.

[0141] Optionally, there is a gap between the end of the connecting rod 82 away from the crank 81 and the inner wall surface of the receiving groove 431, so that when the connecting rod 82 moves under the drive of the second driving member 90 to drive the adapter 40 to rotate, the connecting rod 82 has a certain amount of space for movement, is not easy to interfere with the adapter 42 or produce wear, and has a long service life.

[0142] By setting the adapter 40 to also include a first mounting portion 43, the first mounting portion 43 is connected to the adapter 42, the transmission member 80 is connected to the first mounting portion 43, and the second drive member 90 transmits power to the adapter 40 through the transmission member 80, thereby driving the adapter 40 to drive the head structure 200 to rotate around the second axis or the third axis. This transmission method is not only simple and compact in structure, but also can effectively convert the power of the two second drive members 90 into the rotation of the adapter 40 and the head structure 200.

[0143] In one embodiment, Fig.10 As shown, the adapter 40 further includes a second mounting portion 44 , which is rotatably connected to two opposite side walls of the mounting groove 421 and is spaced apart from the first mounting portion 43 .

[0144] The two opposite ends of the second mounting portion 44 in the X direction are rotatably connected to a side wall of the mounting groove 421 in the X direction, and the connection method is not limited. Optionally, the second mounting portion 44 is rotatably connected to the side wall of the mounting groove 421 through a ball bearing.

[0145] The second mounting portion 44 is spaced apart from the first mounting portion 43 in the Y direction. Optionally, the second mounting portion 44 is substantially parallel to the first mounting portion 43.

[0146] like Fig.10 and Fig.11 As shown, the support member 70 also includes a second connecting plate 75 and a connecting portion 76. The second connecting plate 75 is connected to the first connecting plate 71 and protrudes from the surface of the first connecting plate 71 facing the adapter 40. The connecting portion 76 is provided at one end of the second connecting plate 75 away from the first connecting plate 71, and the second mounting portion 44 is also rotatably connected to the connecting portion 76.

[0147] Optionally, an accommodating space 73 is formed between the first connecting plate 71 , the second connecting plate 75 and the two mounting plates 72 .

[0148] Optionally, the first connecting plate 71, the second connecting plate 75 and the two mounting plates 72 are all substantially flat plates. The first connecting plate 71, the second connecting plate 75 and the two mounting plates 72 may be an integral structure made by an integral molding process. Alternatively, the first connecting plate 71, the second connecting plate 75 and the two mounting plates 72 may be an integral structure in which two of them are welded, screwed, clamped, etc. to form a whole with the other two, or the four may be independent and welded, screwed, clamped, etc. to form a whole, without limitation.

[0149] In a specific embodiment, the first connecting plate 71 and the second connecting plate 75 are an integrated structure, and the two mounting plates 72 are connected and fixed to the first connecting plate 71 by means of snap connection, screw connection, riveting, etc.

[0150] Optionally, the first connecting plate 71 protrudes from the surface of the second connecting plate 75 facing away from the accommodating space 73, that is, there is a gap between the connection between the second connecting plate 75 and the first connecting plate 71 and the edge of the surface of the first connecting plate 71 facing the adapter 40. In this way, the connection area between the first connecting plate 71 and the trunk component can be increased, and the connection between the first connecting plate 71 and the trunk component is more stable.

[0151] The shape of the connecting portion 76 can be block-shaped, cylindrical, columnar, etc., without limitation. The second mounting portion 44 extends into the connecting portion 76 in the Y direction and is rotatably connected to the connecting portion 76, and the connection method is not limited. Optionally, the second mounting portion 44 is rotatably connected to the connecting portion 76 via a ball bearing.

[0152] Optionally, the second connecting plate 75 and the connecting portion 76 are an integrated structure, and a reinforcing rib 77 is provided between the second connecting plate 75 and the connecting portion 76 to increase the structural strength.

[0153] By providing the second mounting portion 44, and rotatably connecting the second mounting portion 44 with the adapter portion 42 and the connecting portion 76 of the support member 70, the nodding and shaking movements of the head structure 200 can be realized, and the transmission structure is simple and compact, and occupies little space.

[0154] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship of terms such as "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" are based on the orientation or positional relationship described in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0155] What is disclosed above is only a preferred embodiment of the present application, and it certainly cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiment and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A head and neck assembly, characterized in that: For humanoid robots, including: A neck structure, comprising a first driving member and a joint, wherein the joint is connected to the rotor of the first driving member and the joint protrudes from the stator of the first driving member; A head structure, comprising a head shell and a control module, wherein the head shell encloses a receiving space, the control module is received in the receiving space and connected and fixed to the head shell, and the head shell is used to support the control module; the outer surface of the head shell is recessed to form a first receiving groove, the joint extends into the first receiving groove and is connected and fixed to the bottom wall of the receiving groove, the outer circumferential surface of the joint is adapted to the inner circumferential wall of the first receiving groove and has a first spacing, and the first spacing is less than or equal to a first preset value; The neck structure further comprises a mounting shell and a neck sleeve, wherein the mounting shell is a cylindrical structure with openings at both ends, the opening at one end of the mounting shell is sleeved on the outer periphery of the end of the first driving member away from the head structure, the opening at the other end of the mounting shell is located at the outer periphery of the joint, the neck sleeve is sleeved on the outer periphery of the mounting shell, and the end of the neck sleeve facing the head structure is connected to the opening of the mounting shell facing the end of the head structure; from the direction away from the head structure to the direction close to the head structure, the mounting shell is an expanding structure, and the neck sleeve is a shrinking structure; The mounting shell includes a first end face and a second end face that are opposite to each other. The outer diameter of the first end face is D1, and the outer diameter of the second end face is D2, satisfying: 1 / 2≤D2 / D1≤4 / 5.

2. The head and neck assembly according to claim 1, characterized in that: The joint includes a first cylinder and a second cylinder, the first cylinder and the second cylinder are coaxially arranged, and the first cylinder is connected to one end of the second cylinder, the first cylinder is connected to the rotor of the first driving member, and the end of the second cylinder away from the first cylinder is connected and fixed to the bottom wall of the first accommodating groove, the surface of the second cylinder facing the first driving member is spaced from the stator of the first driving member, and the outer diameter of the first cylinder is smaller than the outer diameter of the second cylinder.

3. The head and neck assembly according to claim 2, characterized in that: A limiting ring is also provided on the surface of the first cylinder facing away from the second cylinder, and a receiving space is enclosed by the limiting ring and the end surface of the first cylinder facing the first driving member, and the rotor of the first driving member extends into the receiving space, and the outer peripheral surface of the rotor of the first driving member is matched with the inner peripheral wall of the limiting ring; there is a gap between the rotor and the stator at the end surface of the first driving member facing the first cylinder, and at least a part of the limiting ring is accommodated in the gap.

4. The head and neck assembly according to claim 1, characterized in that: One end of the neck guard away from the head structure is used to be connected to the trunk component of the humanoid robot, and the neck guard is a flexible structure.

5. The head and neck assembly according to claim 4, characterized in that: The neck structure also includes a pressure cap, and the neck sleeve covers the end face of the mounting shell facing the head structure. The pressure cap is arranged on one side of the end face of the mounting shell facing the head structure and is located on the surface of the neck sleeve facing away from the mounting shell, and the pressure cap, the neck sleeve and the mounting shell are connected and fixed.

6. The head and neck assembly according to claim 4, characterized in that: The outer surface of the head shell is recessed to form a second accommodating groove, and the bottom wall of the second accommodating groove is recessed to form the first accommodating groove. The neck guard sleeve is received in the second accommodating groove at one end facing the head structure, and there is a gap between the neck guard sleeve and the inner wall of the second accommodating groove.

7. The head and neck assembly according to claim 6, characterized in that: The first driving member includes a supporting shell, a main body and a plug-in portion, the supporting shell is sleeved on the main body, the plug-in portion is electrically connected to the main body, and an opening at one end of the mounting shell is sleeved on the outer periphery of an end of the supporting shell away from the head structure; the mounting shell is provided with a first avoidance hole, and the supporting shell is correspondingly provided with a second avoidance hole, the first avoidance hole is connected with the second avoidance hole, the plug-in portion extends from the first avoidance hole and the second avoidance hole, and a wiring hole is provided on the bottom wall of the second accommodating groove, and the wiring hole connects the first avoidance hole and the accommodating space.

8. The head and neck assembly according to claim 4, characterized in that: The neck structure further includes a transfer member, which is connected to an end of the first driving member away from the head structure; the neck structure further includes a second driving member, which is transmission-connected to the transfer member.

9. The head and neck assembly according to claim 8, characterized in that: The neck structure also includes a support member and a transmission member. The support member includes a first connecting plate and two mounting plates that are opposite to and spaced apart from each other. The two mounting plates are connected to the first connecting plate and protrude from the surface of the first connecting plate facing the adapter. The first connecting plate is used to be connected and fixed to the torso assembly of the humanoid robot. Each of the mounting plates is equipped with a second driving member. The transmission member is connected to the second driving member and the adapter.

10. The head and neck assembly according to claim 9, characterized in that: The adapter also includes an adapter portion and a first mounting portion, the adapter portion is connected to an end of the first driving member away from the head structure, the adapter portion is provided with a mounting groove from an end facing away from the first driving member, the first mounting portion is accommodated in the mounting groove and connected to two side walls opposite to the mounting groove; the first mounting portion is provided with a receiving groove, an end of the transmission member away from the rotor of the second driving member is accommodated in the receiving groove and connected to the inner wall surface of the receiving groove.

11. The head and neck assembly according to claim 10, characterized in that: The adapter also includes a second mounting portion, which is rotatably connected to two side walls opposite to the mounting groove and is spaced apart from the first mounting portion; the support also includes a second connecting plate and a connecting portion, the second connecting plate is connected to the first connecting plate and protrudes from the surface of the first connecting plate facing the adapter, the connecting portion is provided at one end of the second connecting plate away from the first connecting plate, and the second mounting portion is also rotatably connected to the connecting portion.

12. The head and neck assembly according to claim 11, characterized in that: An accommodating space is formed between the first connecting plate, the second connecting plate and the two mounting plates, at least a portion of the transmission member is accommodated in the accommodating space, and the first connecting plate protrudes from a surface of the second connecting plate facing away from the accommodating space.

13. A humanoid robot, characterized in that: It comprises a trunk component and a head and neck component as claimed in any one of claims 1 to 12, wherein the head and neck component is connected to the trunk component.

Images