Robot neck structure and robot

Abstract

The invention relates to the technical field of robots, in particular to a robot neck structure and a robot. The robot neck structure comprises a trunk connecting platform, a rotating disc is rotationally arranged on the trunk connecting platform, and a first rotating driving assembly is arranged at the bottom of the trunk connecting platform to drive the rotating disc to rotate; the turntable is connected with a head connecting platform through a universal coupling assembly; the head connecting platform is connected with a second rotary driving assembly and a third rotary driving assembly, and output shafts of the two are spherically hinged to the turntable through a first connecting rod assembly and a second connecting rod assembly respectively; the driving mode of controlling the second rotation driving assembly and the third rotation driving assembly is matched with the universal coupling assembly to control the head connecting platform to conduct head swinging motion or nodding motion, in this way, the head inertia can be dispersed to the two motors to bear no matter the head swinging motion or the nodding motion is conducted, the single-axis load is reduced, and the working efficiency is improved. And the size is reduced and compact.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a robot neck structure and a robot. Background Art

[0002] With the development of humanoid robots and AI, robots with flexible necks can obtain more information about the surrounding environment and maintain the stability of the head during movement. Therefore, the neck mechanisms of robots with bionic appearance and flexible movements have become a research and development hotspot. However, traditional three-degree-of-freedom (Yaw, Pitch, Roll) neck structures often have the following problems in terms of spatial layout and load distribution:

[0003] Large space occupation: Yaw, Pitch, and Roll often use independent drive units, and the motors of each axis are separately installed, resulting in a relatively large overall height or width of the neck, making it difficult to meet the requirements of miniaturization and aesthetics.

[0004] Concentrated load and high motor requirements: If Pitch and Roll adopt a series structure or are arranged in the same direction, when rotating quickly or bearing the weight and inertia of the head, a single motor needs to bear a large torque and load, and thus a larger specification of the motor is required, which is not conducive to reducing the structural weight and energy consumption.

[0005] Therefore, the purpose of the present invention is to provide a compact three-degree-of-freedom robot neck structure. Summary of the Invention

[0006] To solve the problem of the unreasonable design of the current robot neck structure, the present invention provides a robot neck structure and a robot.

[0007] The technical solution of the present invention is as follows:

[0008] On the one hand, the present invention provides a robot neck structure, characterized by comprising

[0009] A torso connection platform, on which a turntable is rotatably arranged;

[0010] A first rotation drive assembly, arranged at the bottom of the torso connection platform and drivingly connected to the turntable;

[0011] A universal coupling assembly, with the first end connected to the turntable and the second end connected to the head connection platform; the universal coupling assembly includes a first rotating shaft portion extending in a first direction and a second rotating shaft portion extending in a second direction;

[0012] The second rotation drive assembly and the third rotation drive assembly are both installed on the head connection platform. The output shaft of the second rotation drive assembly is ball-jointed to the turntable through a first link assembly, and the third rotation drive assembly is ball-jointed to the turntable through a second link assembly, so that the head connection platform has a tendency of swinging its head and a tendency of nodding its head.

[0013] Further, the orientations of the output shafts of the second rotation drive assembly and the third rotation drive assembly are arranged to face away from each other in a first direction and are spaced apart in a second direction; the first link assembly includes a first rotating arm; the second link assembly includes a second rotating arm; the output shaft of the second rotation drive assembly is connected to the first rotating arm; the output shaft of the third rotation drive assembly is connected to the second rotating arm; the first rotating arm and the second rotating arm are arranged to face each other in the second direction; wherein, the first direction and the second direction are perpendicular to each other on a horizontal plane.

[0014] Further, the head connection platform includes a support portion, and the second rotation drive assembly and the third rotation drive assembly are arranged on the support portion and are closely arranged along the first direction or the second direction.

[0015] Further, the head connection platform further includes a skull connection portion, and the skull connection portion is arranged at one end of the support portion along the second direction.

[0016] Further, the first rotating arm is close to the driving part main body of the second rotation drive assembly in the first direction and does not extend beyond the driving part main body of the second rotation drive assembly in the second direction; the second rotating arm is close to the third rotation drive assembly in the first direction and does not extend beyond the driving part main body of the third rotation drive assembly in the second direction.

[0017] Further, the first link assembly further includes a first ball head link, the first end of the first ball head link is ball-jointed to the first rotating arm, and the second end of the first ball head link is ball-jointed to the turntable; the second link assembly further includes a second ball head link, the first end of the second ball head link is ball-jointed to the second rotating arm, and the second end of the second ball head link is ball-jointed to the turntable.

[0018] Further, the turntable has a rotating connection portion extending along the first direction, and the rotating connection portion is arranged on one side of the universal coupling assembly in the second direction. The first ball head link is ball-jointed to the first end of the rotating connection portion; the second ball head link is ball-jointed to the second end of the rotating connection portion.

[0019] Further, the first rotation driving assembly includes a first driving member and a neck central rotating shaft connected to the output shaft of the first driving member, the neck central rotating shaft being connected to the turntable; and the neck central rotating shaft and the universal coupling assembly are coaxially arranged; the universal coupling assembly includes a first rotating shaft portion extending along the first direction and a second rotating shaft portion extending along the second direction.

[0020] Further, a receiving space is provided at the bottom of the trunk connection platform, and the first driving member is installed in the receiving space.

[0021] According to another aspect of the present invention, a robot is further provided, including the robot neck structure, the robot head and the robot trunk as described above, the trunk connection platform being connected to the robot trunk; the head connection platform being connected to the robot head.

[0022] The beneficial effects achieved by the present invention are as follows:

[0023] In the robot neck structure of the present invention, a turntable is rotatably provided on the trunk connection platform, and a first rotation driving assembly is provided at the bottom of the trunk connection platform to drive and connect the turntable to drive it to rotate. The first rotation driving assembly is provided at the bottom of the trunk connection platform, which can reduce the occupation of the robot neck space; the head connection platform is connected to the turntable through the universal coupling assembly, so that the head connection platform also has degrees of freedom in multiple directions; the second rotation driving assembly and the third rotation driving assembly are connected to the head connection platform. By controlling the driving modes of the second rotation driving assembly and the third rotation driving assembly and cooperating with the universal coupling assembly to control the head connection platform to perform a head swaying motion or a nodding motion, so that both the head swaying motion and the nodding motion can disperse the head inertia to two motors to bear, reducing the single-axis load; in summary, in the present application, the nodding action can be completed through the first rotation driving assembly; the left and right head swaying and pitching nodding actions can be completed through the second rotation driving assembly and the third rotation driving assembly and ensure their stable progress, so as to realize the highly anthropomorphic motion of the robot neck structure. At the same time, the load and inertia are shared through the universal coupling assembly and the spherical hinge, so that smaller torque and lighter motors can be selected, and this structure can effectively utilize the space, making the neck mechanical mechanism more suitable for bionic requirements in terms of external dimensions and functions. Description of the Drawings

[0024] The drawings here are incorporated into the specification and form a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0025] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0026] One or more embodiments are exemplarily illustrated by the pictures in the corresponding accompanying drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the accompanying drawings are represented as similar elements. Unless otherwise stated, the figures in the accompanying drawings do not constitute a scale limitation.

[0027] Figure 1 is the first three-dimensional structural schematic diagram of the present application;

[0028] Figure 2 is the side view structural schematic diagram of the present application;

[0029] Figure 3 is the front view structural schematic diagram of the present application;

[0030] Figure 4 is the second three-dimensional structural schematic diagram of the present application;

[0031] Figure 5 is the third three-dimensional structural schematic diagram of the present application.

[0032] In the figure,

[0033] 100, torso connection platform; 200, first rotation drive assembly; 300, universal coupling assembly; 400, head connection platform; 500, second rotation drive assembly; 600, third rotation drive assembly; 700, first link assembly; 800, second link assembly; 110, turntable; 111, rotating connection part; 120, accommodation space; 210, first drive member; 220, neck central rotating shaft; 310, first rotating shaft part; 320, second rotating shaft part; 410, support part; 420, skull connection part; 710, first rotating arm; 720, first ball head link; 810, second rotating arm; 820, second ball head link. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0035] The following disclosure provides many different embodiments or examples for implementing different structures of the present application. To simplify the disclosure of the present application, components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present application. In addition, the present application may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0036] For ease of description, spatially relative relationship terms may be used in the text to describe the relative position relationship or movement of one element or feature shown in the figure with respect to another element or feature. These relative relationship terms are, for example, "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "over", "front", "rear", etc. Such spatially relative relationship terms are intended to include different orientations of the device in use or operation other than the orientations depicted in the figure. For example, if the device in the figure undergoes a position flip or attitude change or motion state change, then these directional indications will change accordingly. For example, an element described as "below" or "beneath" other elements or features will subsequently be oriented as "above" or "over" other elements or features. Therefore, the exemplary term "below" can include both the upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other directions) and the spatially relative relationship descriptors used in the text are interpreted accordingly.

[0037] Embodiment 1

[0038] An embodiment of the present application discloses a robot neck structure, including a torso connection platform 100, on which a turntable 110 is rotatably arranged; a first rotation drive assembly 200 is arranged at the bottom of the torso connection platform 100, and the first rotation drive assembly 200 drives and connects the turntable 110; the first end of a universal coupling assembly 300 is connected to the turntable 110, and the second end of the universal coupling assembly 300 is connected to a head connection platform 400; the universal coupling assembly 300 includes a first rotating shaft portion 310 extending along a first direction X and a second rotating shaft portion 320 extending along a second direction Y; a second rotation drive assembly 500 and a third rotation drive assembly 600 are connected to the head connection platform 400. The output shaft of the second rotation drive assembly 500 is ball-jointed to the turntable 110 through a first link assembly 700, and the third rotation drive assembly 600 is ball-jointed to the turntable 110 through a second link assembly 800. The second rotation drive assembly 500 and the third rotation drive assembly 600 drive and cooperate to enable the head connection platform 400 to have a tendency of swinging the head and a tendency of nodding the head, and jointly share the inertia of the head connection platform 400 through the second rotation drive assembly 500 and the third rotation drive assembly 600.

[0039] In this embodiment, the torso connection platform 100 is provided to connect the torso part of the robot. A turntable 110 is rotatably arranged on the torso connection platform 100. A first rotation driving component 200 is arranged at the bottom of the torso connection platform 100 to drive and connect the turntable 110 to drive it to rotate. It can be understood as driving the neck structure of the robot to perform a rotational motion. And the first rotation driving component 200 is arranged at the bottom of the torso connection platform 100. Since the torso part itself has a relatively large space, there is enough space for convenient installation of the first rotation driving component 200. At the same time, it can reduce the occupation of the robot's neck space, which is beneficial to the miniaturization of the structure. A head connection platform 400 is connected to the turntable 110 through a universal coupling component 300, so that the head connection platform 400 also has degrees of freedom in multiple directions, such as swinging the head left and right (which can be understood as the rotational degree of freedom of the first rotating shaft part 310) and nodding up and down (which can be understood as the rotational degree of freedom of the second rotating shaft part 320). A second rotation driving component 500 and a third rotation driving component 600 are connected to the head connection platform 400. The output shaft of the second rotation driving component 500 is ball-jointed to the turntable 110 through a first link component 700. The third rotation driving component 600 is ball-jointed to the turntable 110 through a second link component 800. So that by controlling the driving modes of the second rotation driving component 500 and the third rotation driving component 600 and cooperating with the universal coupling component 300 to control whether the head connection platform 400 performs a head-swinging motion or a nodding motion. In this way, whether it is a head-swinging motion or a nodding motion, the head inertia can be dispersed to two motors to bear, reducing the single-axis load. It can also be understood that the head-swinging motion and the nodding motion are "paralleled". The two driving components are ball-jointed to the turntable 110 and cooperate with the universal coupling component 300 to complete the head-swinging motion and the nodding motion. In summary, in this application, the nodding action can be completed through the first rotation driving component 200. The left and right head-swinging and up and down nodding actions can be completed through the second rotation driving component 500 and the third rotation driving component 600 and ensure their stable progress, so as to realize the highly anthropomorphic motion of the robot's neck structure. At the same time, through the universal coupling component 300 and the ball joint, the load and inertia are shared, so that smaller torque and lighter motors can be selected, and this structure can effectively utilize space, making the neck mechanical mechanism more suitable for bionic requirements in terms of external dimensions and functions.

[0040] In an optional or preferred embodiment, a receiving space 120 is arranged at the bottom of the torso connection platform 100, and the first driving member 210 is installed in the receiving space 120. Through the arrangement of the receiving space 120, the installation of the first driving member 210 can be facilitated, and at the same time, the occupation of the neck area space can be reduced.

[0041] In an alternative or preferred embodiment, the first rotation drive assembly 200, the second rotation drive assembly 500, and the third rotation drive assembly 600 can all be configured to include, but are not limited to, motors, servos, motors, and the like.

[0042] In an alternative or preferred embodiment, the output shafts of the second rotation drive assembly 500 and the third rotation drive assembly 600 are arranged to face away from each other in the first direction X and are spaced apart in the second direction Y; the first link assembly 700 includes a first rotating arm 710; the second link assembly 800 includes a second rotating arm 810; the output shaft of the second rotation drive assembly 500 is connected to the first rotating arm 710; the output shaft of the third rotation drive assembly 600 is connected to the second rotating arm 810; the first rotating arm 710 and the second rotating arm 810 are arranged to face each other in the second direction Y; wherein, the first direction X and the second direction Y are perpendicular to each other on a horizontal plane.

[0043] In this embodiment, for the convenience of understanding the technical solution, the first direction X and the second direction Y are marked in the attached Figure 1 as a reference; in the prior art, most of the robot neck structures have the situation that the overall height, width or depth of the neck is relatively large, which affects the aesthetics and compactness of the robot neck appearance. To solve this problem, the present application specifically designs the following solution. Please refer to the attached Figures 1-4 , the first link assembly 700 includes a first rotating arm 710; the second link assembly 800 includes a second rotating arm 810; the output shaft of the second rotation drive assembly 500 is connected to the first rotating arm 710; the output shaft of the third rotation drive assembly 600 is connected to the second rotating arm 810; on this basis, the output shafts of the second rotation drive assembly 500 and the third rotation drive assembly 600 are arranged to face away from each other in the first direction X and are spaced apart in the second direction Y, and the first rotating arm 710 and the second rotating arm 810 are arranged to face each other in the second direction Y. Referring to the attached Figure 4 , the first rotating arm 710 on the right side is arranged from back to front, and the second rotating arm 810 on the left side is arranged from front to back, that is, the output shaft connected to the first rotating arm 710 is arranged behind the output shaft connected to the second rotating arm 810 (the front and back directions here can be understood as the second direction Y); thereby achieving the purpose of compact structure and miniaturization of volume.

[0044] Preferably, please refer to Figure 2 、 Figure 3, the first rotating arm 710 is close to the driving part body of the second rotating drive assembly 500 in the first direction X and does not extend beyond the driving part body of the second rotating drive assembly 500 in the second direction Y; the second rotating arm 810 is close to the third rotating drive assembly 600 in the first direction X and does not extend beyond the driving part body of the third rotating drive assembly 600 in the second direction Y; for ease of understanding, specific orientations will be introduced later, which should not be regarded as a limitation thereto, and the examples are as follows: such as Figure 3 , bringing the first rotating arm 710 and the second rotating arm 810 close to the motor body can reduce the space occupied in the left - right direction of the neck area; such as Figure 2 , the first rotating arm 710 and the second rotating arm 810 will not extend beyond the driving bodies of the second rotating drive assembly 500 and the third rotating drive assembly 600 in the second direction Y, which can effectively reduce the space occupied in the front - back direction of the neck area, and through the structural design of the present application, when the robot nods or shakes its head, the rotation angles of the first rotating arm 710 and the second rotating arm 810 do not need to be very large. Therefore, even during the movement process, the first rotating arm 710 and the second rotating arm 810 will never extend beyond the motor bodies of the second rotating drive assembly 500 and the third rotating drive assembly 600. Further, arranging the second rotating drive assembly 500 and the third rotating drive assembly 600 closely along the first direction X or along the second direction Y can also reduce the space occupied in the height direction of the neck area. With such a design, it can be made that the present application can greatly reduce the space occupied in the neck area in all directions, which is beneficial to the miniaturization design of the robot neck.

[0045] In an alternative or preferred embodiment, the first link assembly 700 further includes a first ball - head link 720. The first end of the first ball - head link 720 is ball - hinged to the first rotating arm 710, and the second end of the first ball - head link 720 is ball - hinged to the turntable 110; the second link assembly 800 further includes a second ball - head link 820. The first end of the second ball - head link 820 is ball - hinged to the second rotating arm 810, and the second end of the second ball - head link 820 is ball - hinged to the turntable 110

[0046] In this embodiment, by ball - hinging the first end of the first ball - head link 720 to the first rotating arm 710 and ball - hinging the second end of the first ball - head link 720 to the turntable 110; ball - hinging the first end of the second ball - head link 820 to the second rotating arm 810 and ball - hinging the second end of the second ball - head link 820 to the turntable 110, the head connection platform 400 is enabled to have degrees of freedom of multi - directional movement.

[0047] In an alternative or preferred embodiment, the turntable 110 has a rotating connection portion 111 extending along the first direction X, and the rotating connection portion 111 is disposed on one side of the universal coupling assembly 300 along the second direction Y. The first link assembly 700 is ball-jointed to the first end of the rotating connection portion 111; the second link assembly 800 is ball-jointed to the second end of the rotating connection portion 111.

[0048] In this embodiment, by ball-jointing the first link assembly 700 to the first end of the rotating connection portion 111 and ball-jointing the second link assembly 800 to the second end of the rotating connection portion 111, it is convenient for the second rotation drive assembly 500 and the third rotation drive assembly 600 to drive the first link assembly 700 and the second link assembly 800 to move along a preset path during the driving operation.

[0049] In an alternative or preferred embodiment, the head connection platform 400 includes a support portion 410, and the second rotation drive assembly 500 and the third rotation drive assembly 600 are disposed on the support portion 410 and are closely arranged along the first direction X or the second direction Y.

[0050] In this embodiment, the support portion 410 supports and positions the second rotation drive assembly 500 and the third rotation drive assembly 600. At the same time, the second rotation drive assembly 500 and the third rotation drive assembly 600 are closely arranged along the first direction X or the second direction Y, which can reduce the occupation of the neck space in the height direction after installation, and is beneficial to the miniaturized design of the robot neck.

[0051] In an alternative or preferred embodiment, the head connection platform 400 further includes a skull connection portion 420. The skull connection portion 420 is disposed at one end of the support portion 410 along the second direction Y; the robot's head can be directly connected through the skull connection portion 420. At the same time, by disposing the skull connection portion 420 at one end of the support portion 410 along the second direction Y and cooperating with the spatial structure design of the first rotation drive assembly 200, the second rotation drive assembly 500, and the third rotation drive assembly 600, it is possible to avoid a large area of the robot neck in the horizontal plane, and effectively ensure the compactness and aesthetics of the robot neck area design.

[0052] In an alternative or preferred embodiment, the universal coupling assembly 300 includes a first rotating shaft portion 310 extending along the first direction X and a second rotating shaft portion 320 extending along the second direction Y, so that the robot has a nodding motion tendency around the first rotating shaft portion 310 and a shaking motion tendency around the second rotating shaft portion 320.

[0053] In an alternative or preferred embodiment, the first rotation drive assembly 200 includes a first drive member 210 and a neck central rotating shaft 220 connected to the output shaft of the first drive member 210. The neck central rotating shaft 220 is connected to the turntable 110; and the neck central rotating shaft 220 is coaxially arranged with the universal coupling assembly 300; the universal coupling assembly 300 is coaxially arranged with the neck central rotating shaft 220 and is located at the center of the neck, which can reduce the space occupation during the movement.

[0054] Embodiment II

[0055] The robot includes the robot neck structure, the robot head, and the robot torso as described above. The torso connection platform 100 is connected to the robot torso; the head connection platform 400 is connected to the robot head; since the robot includes the robot neck structure, it should have all the technical effects of the above-mentioned robot neck structure, which will not be elaborated here.

[0056] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless the order of performance is explicitly stated. It should also be understood that additional or alternative steps may be used.

[0057] Although the terms first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first" and "second" and other numerical terms used herein do not imply an order or sequence. Thus, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the example embodiments.

[0058] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. The robot neck structure is characterized by: include A trunk connection platform (100) on which a turntable (110) is rotatably arranged; A first rotation driving assembly (200), arranged at the bottom of the trunk connection platform (100) and drivingly connected to the turntable (110); A universal coupling assembly (300), the first end of which is connected to the rotating disk (110), and the second end of which is connected to the head connecting platform (400); the universal coupling assembly (300) comprises a first rotating shaft portion (310) extending along a first direction (X) and a second rotating shaft portion (320) extending along a second direction (Y); The second rotation drive assembly (500) and the third rotation drive assembly (600) are both installed on the head connection platform (400), and the output shaft of the second rotation drive assembly (500) is ball-jointed to the turntable (110) via the first connecting rod assembly (700), and the third rotation drive assembly (600) is ball-jointed to the turntable (110) via the second connecting rod assembly (800), so that the head connection platform (400) has a head shaking movement tendency and a head nodding movement tendency, and the inertia of the head connection platform (400) is shared by the second rotation drive assembly (500) and the third rotation drive assembly (600).

2. The robot neck structure according to claim 1, characterized in that: The output shafts of the second rotation drive assembly (500) and the third rotation drive assembly (600) are oriented in a direction opposite to each other in a first direction (X) and are spaced apart in a second direction (Y); the first connecting rod assembly (700) includes a first rotating arm (710); the second connecting rod assembly (800) includes a second rotating arm (810); the output shaft of the second rotation drive assembly (500) is connected to the first rotating arm (710); the output shaft of the third rotation drive assembly (600) is connected to the second rotating arm (810); the first rotating arm (710) and the second rotating arm (810) are arranged facing each other in a second direction (Y); wherein the first direction (X) and the second direction (Y) are perpendicular to each other in a horizontal plane.

3. The robot neck structure according to claim 2, characterized in that: The head connection platform (400) comprises a support portion (410), and the second rotation drive assembly (500) and the third rotation drive assembly (600) are disposed on the support portion (410) and are closely arranged along a first direction (X) or a second direction (Y).

4. The robot neck structure according to claim 3, characterized in that: The head connection platform (400) further comprises a skull connection portion (420), and the skull connection portion (420) is arranged at one end of the support portion (410) along the second direction (Y).

5. The robot neck structure according to claim 2, characterized in that: The first rotating arm (710) is close to the driving member body of the second rotating driving component (500) in the first direction (X) and does not extend beyond the driving member body of the second rotating driving component (500) in the second direction (Y); the second rotating arm (810) is close to the third rotating driving component (600) in the first direction (X) and does not extend beyond the driving member body of the third rotating driving component (600) in the second direction (Y).

6. The robot neck structure according to claim 2, characterized in that: The first connecting rod assembly (700) further includes a first ball head connecting rod (720), wherein a first end ball of the first ball head connecting rod (720) is hinged to the first rotating arm (710), and a second end ball of the first ball head connecting rod (720) is hinged to the rotating disk (110); the second connecting rod assembly (800) further includes a second ball head connecting rod (820), wherein a first end ball of the second ball head connecting rod (820) is hinged to the second rotating arm (810), and a second end ball of the second ball head connecting rod (820) is hinged to the rotating disk (110).

7. The robot neck structure according to claim 6, characterized in that: The turntable (110) has a rotating connection portion (111) extending along a first direction (X), and the rotating connection portion (111) is arranged on one side of the universal joint assembly (300) in a second direction (Y), and the first ball head connecting rod (720) is ball-hinged at a first end of the rotating connection portion (111); and the second ball head connecting rod (820) is ball-hinged at a second end of the rotating connection portion (111).

8. The robot neck structure according to any one of claims 2 to 7, characterized in that: The first rotating drive assembly (200) comprises a first driving member (210) and a neck center shaft (220) connected to the output shaft of the first driving member (210), wherein the neck center shaft (220) is connected to the turntable (110); and the neck center shaft (220) is coaxially arranged with the universal coupling assembly (300).

9. The robot neck structure according to any one of claims 1 to 7, characterized in that: The bottom of the trunk connection platform (100) is provided with an accommodating space (120), and the first driving member (210) is installed in the accommodating space (120).

10. A robot, comprising a robot neck structure, a robot head and a robot torso as described in any one of claims 1 to 9, wherein the torso connection platform (100) is connected to the robot torso; and the head connection platform (400) is connected to the robot head.

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