Head and neck assembly and humanoid robot

Abstract

The invention relates to the technical field of robots, in particular to a head and neck assembly and a humanoid robot, and aims to solve the problems that the simulation degree of the head and neck assembly is poor, and the appearance of the humanoid robot is affected. According to the head and neck assembly, the head assembly is provided with the first containing space and the opening, the neck assembly is located on the side, facing the first direction, of the head assembly, and the opening faces the neck assembly, so that the neck assembly can stretch into the first containing space from the opening, and the junction of the head assembly and the neck assembly is more coherent and natural in transition; and the simulation degree of the head and neck assembly is increased. Besides, under the condition that the rotation angle of the head assembly around the first axis relative to the neck assembly is 0 degree, a gap is formed between the edge of the neck assembly and the edge of the opening, avoiding is provided for rotation of the head assembly around the first axis relative to the neck assembly, and the head assembly can smoothly rotate around the first axis relative to the neck assembly.

Description

Technical Field

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

[0002] In recent years, humanoid robot technology has made significant progress and has frequently appeared in various professional competitions, scientific research explorations, and potential application scenarios. Humanoid robots have gradually moved from laboratories to a wider range of practical applications, with their intelligence level and athletic ability constantly improving, playing an important role in many fields such as home services, medical care, and industrial production.

[0003] However, as an important part of the humanoid robot, the head and neck assembly has a poor degree of simulation, which seriously affects the appearance of the humanoid robot, resulting in low user acceptance and identification and poor user experience. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a head and neck assembly and a humanoid robot to solve the problem that the simulation degree of the head and neck assembly is poor, which affects the appearance of the humanoid robot.

[0005] An embodiment of the present application provides a head and neck assembly, including: a head assembly, the head assembly having a first accommodating space and an opening, the first accommodating space being able to communicate with the outside world through the opening; a neck assembly, located on the side of the head assembly facing the first direction, the opening facing the neck assembly, the neck assembly extending into the first accommodating space from the opening, and enclosing a second accommodating space with the head assembly; a first driving assembly, arranged in the neck assembly, located in the second accommodating space, and connected to the head assembly, the first driving assembly being used to drive the head assembly to rotate relative to the neck assembly around a first axis, the extension direction of the first axis being perpendicular to the first direction; wherein, when the rotation angle of the head assembly relative to the neck assembly around the first axis is 0 degrees, there is a gap between the edge of the neck assembly and the edge of the opening.

[0006] In some embodiments, the neck assembly includes: a neck shell, the neck shell is located on the side of the head assembly facing the first direction, the neck shell has an extension portion on the side facing the head assembly, the extension portion is annular, extends in the opposite direction of the first direction, and extends into the first accommodating space from the opening, the neck shell and the head assembly enclose a second accommodating space, when the rotation angle of the head assembly around the first axis relative to the neck assembly is 0 degrees, there is a gap between the outer surface of the extension portion and the edge of the opening; a mounting bracket, located in the second accommodating space and connected to the inner surface of the neck shell, the first drive assembly is arranged on the mounting bracket.

[0007] In some implementations, the first drive component includes: a first rotation output part, the rotation axis of the first rotation output part is colinear with the first axis, the first rotation output part is connected to the head component, and is used to drive the head component to rotate around the first axis; a first driving body, which is arranged in the neck component, is located in the second accommodating space, is connected to the first rotation output part, and is used to drive the first rotation output part to rotate around the first axis.

[0008] In some implementations, the head and neck assembly also includes: a first limiting member, located in the second accommodating space, arranged on the first driving body, and located in the circumferential direction of the first axis; a second limiting member, located in the second accommodating space, arranged on the first driving body, and spaced apart from the first limiting member along the circumferential direction of the first axis; a first limited member, arranged on the inner wall of the head assembly, located in the circumferential direction of the first axis, and extending into the gap between the first limiting member and the second limiting member.

[0009] In some implementations, the first rotation output portion protrudes out of the first driving body toward the first limited member along the extension direction of the first axis; the head and neck assembly also includes: a first support member, the first support member is arranged on the neck assembly and is located in the second accommodating space, the first support member includes a first annular connecting portion and a neck connecting portion that are connected to each other, the first annular connecting portion is arranged on the side of the first driving body facing the first limited member, and is connected to the end face of the first driving body facing the first limited member, the first rotation output portion passes through the center hole of the first annular connecting portion and is connected to the inner wall of the head assembly, and the neck connecting portion is connected to the neck assembly; wherein, the first limiting member and the second limiting member are connected to the circumferential side of the first annular connecting portion.

[0010] In some embodiments, the head and neck assembly also includes: a second support member, located in the second accommodating space, arranged in the neck assembly, and located on the side of the first support member away from the first limited member; a rotating connecting member, located in the second accommodating space, one side of the rotating connecting member is rotatably connected to the second support member around the first axis, and the other side of the rotating connecting member is connected to the inner wall of the head assembly opposite to the first limited member along the extension direction of the first axis.

[0011] In certain embodiments, the head and neck assembly has a left side and a right side, and the left side and the right side are arranged opposite to each other along the extension direction of the first axis; the head and neck assembly has a front side and a rear side, and the front side and the rear side are arranged opposite to each other along a second direction, and the second direction is perpendicular to both the first direction and the extension direction of the first axis; when the rotation angle of the head assembly relative to the neck assembly around the first axis is 0 degrees, the inner wall of the front side of the head assembly has a first gap with the neck assembly, and the inner wall of the rear side of the head assembly has a second gap with the neck assembly, and the first gap and the second gap are used to allow the head assembly to rotate around the first axis between a first position and a second position.

[0012] In some implementations, the head and neck assembly has a left side and a right side, which are arranged away from each other in a third direction perpendicular to both the first direction and the second direction; when the rotation angle of the head assembly relative to the neck assembly about the first axis is 0 degrees, along the third direction, the first gap has a middle portion and narrowing portions on both sides of the middle portion, and along the second direction, the size of the middle portion is larger than that of the narrowing portions.

[0013] In some implementations, when the rotation angle of the head assembly relative to the neck assembly about the first axis is 0 degrees, along the extension direction perpendicular to the rear edge of the neck assembly, the sizes of the second gaps are equal, and along the second direction, the size of the middle portion is larger than that of the second gaps.

[0014] In some implementations, along the second direction, the distance between the first axis and the inner wall of the front side of the head assembly is greater than the distance between the first axis and the inner wall of the rear side of the head assembly.

[0015] In some implementations, the head and neck assembly is applied to a humanoid robot, and the humanoid robot further includes a torso assembly, and the head and neck assembly is disposed on the torso assembly; the head and neck assembly further includes: a second driving assembly, which can be disposed on the torso assembly and connected to the neck assembly for driving the neck assembly to rotate about a second axis, and the extension direction of the second axis is parallel to the first direction.

[0016] In some implementations, the second driving assembly includes: a second rotation output portion, the rotation axis of the second rotation output portion is collinear with the second axis, the second rotation output portion is connected to the neck assembly for driving the neck assembly to rotate about the second axis; a second driving body, which can be disposed on the torso assembly and connected to the second rotation output portion for driving the second rotation output portion to rotate about the second axis; the head and neck assembly further includes: a second limited member, which is connected to the circumferential side surface of the second rotation output portion and can abut against the torso assembly during rotation to limit the rotation angle of the second rotation output portion.

[0017] In some implementations, the second rotation output portion is connected to the side of the neck assembly away from the head assembly, and the second rotation output portion protrudes from the second driving body towards the neck assembly along the extension direction of the second axis; the torso assembly includes a shoulder member, and the shoulder member includes a first shoulder, a middle portion and a second shoulder connected in sequence, the middle portion has a through hole, the shoulder member is disposed on the side of the second driving body facing the neck assembly and connected to the end surface of the second driving body facing the neck assembly, and the second rotation output portion passes through the through hole and is connected to the neck assembly; the second limited member includes: a second annular connection portion, which is sleeved on the second rotation output portion; a limited portion, which is connected to the second annular connection portion, and the limited portion can be located on one side of the shoulder member to abut against the first shoulder or the second shoulder during rotation.

[0018] In some implementations, the head and neck assembly has a front side and a rear side disposed opposite to each other; one side of the middle part facing the limiting part has a first positioning hole, and the extending direction of the central axis of the first positioning hole is parallel to the direction from the front side to the rear side; the limiting part has a second positioning hole, and when the limiting part rotates to a preset position, the extending direction of the central axis of the second positioning hole can be collinear with the extending direction of the first positioning hole.

[0019] In a second aspect, an embodiment of the present application provides a humanoid robot, including: the head and neck assembly mentioned in the first aspect.

[0020] For the head and neck assembly provided in this embodiment, the head assembly has a first accommodation space and an opening. The first accommodation space can communicate with the outside through the opening. The neck assembly is located on one side of the head assembly facing the first direction, and the opening faces the neck assembly, so that the neck assembly can extend into the first accommodation space through the opening, making the transition at the junction of the head assembly and the neck assembly more coherent and natural, increasing the simulation degree of the head and neck assembly, enhancing the appearance image of the humanoid robot, improving the user acceptance, recognition and user experience, and expanding the application of the humanoid robot in some scenarios with high requirements for simulation degree, such as film production, theme park interaction, etc.

[0021] In addition, the first driving component drives the head assembly to rotate relative to the neck assembly around the first axis. The neck assembly and the head assembly enclose a second accommodation space, so that the first driving component can be located in the second accommodation space and supported by the neck assembly, enabling the first driving component to drive the head assembly to rotate around the first axis without being directly exposed to the outside. And when the humanoid robot is in a state of standing upright on both feet on a horizontal plane, it is difficult for a user to see the second accommodation space when looking along the horizontal direction, making the appearance of the head and neck assembly more coherent and natural, and further increasing the simulation degree of the head and neck assembly.

[0022] At the same time, when the rotation angle of the head assembly relative to the neck assembly around the first axis is 0 degree, there is a gap between the edge of the neck assembly and the edge of the opening, providing clearance for the rotation of the head assembly relative to the neck assembly around the first axis, enabling the head assembly to rotate smoothly relative to the neck assembly around the first axis, making the channel for the second accommodation space to communicate with the outside smaller, making the second accommodation space more difficult to be seen by the user, and the heat in the second accommodation space can be released to the outside through this gap, facilitating the heat dissipation of the head and neck assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other objects, features, and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0024] Figure 1 The structural schematic diagram of the head and neck assembly and the torso assembly provided by an embodiment of the present application is shown.

[0025] Figure 2 Shown is provided by an embodiment of the present application Figure 1 The front view of the head and neck assembly and the torso assembly shown.

[0026] Figure 3 Shown is provided by an embodiment of the present application Figure 1 The right view of the head and neck assembly and the torso assembly shown.

[0027] Figure 4 Shown is provided by an embodiment of the present application Figure 3 The sectional schematic view of the head and neck assembly along line AA.

[0028] Figure 5 Shown is provided by an embodiment of the present application Figure 2 The sectional schematic view of the head and neck assembly and the torso assembly along line BB.

[0029] Figure 6 The structural schematic diagram of the humanoid robot provided by an embodiment of the present application is shown.

[0030] Figure 7 The structural schematic diagram of the neck assembly provided by an embodiment of the present application is shown.

[0031] Figure 8 The structural schematic diagram of the head and neck assembly and the torso assembly after removing the front mask provided by an embodiment of the present application is shown.

[0032] Figure 9 The structural schematic diagram of the head and neck assembly after removing the front mask provided by an embodiment of the present application is shown.

[0033] Figure 10 The structural schematic diagram of the head and neck assembly after removing the front mask provided by another embodiment of the present application is shown.

[0034] Figure 11 The structural schematic diagram of the head and neck assembly after removing the front mask provided by still another embodiment of the present application is shown.

[0035] Figure 12The figure shows a schematic structural diagram of a left face mask provided by an embodiment of the present application.

[0036] Figure 13 The figure shows a schematic structural diagram of a first driving component, a first limiting member and a second limiting member provided by an embodiment of the present application.

[0037] Figure 14 The figure shows a schematic structural diagram of a second support member and a rotating connecting member provided by an embodiment of the present application.

[0038] Figure 15 The figure shows a schematic structural diagram of a front face mask provided by an embodiment of the present application.

[0039] Figure 16 The figure shows a schematic structural diagram of a neck component, a torso component and a second limited member provided by an embodiment of the present application.

[0040] Figure 17 The figure shows a schematic structural diagram of a neck component provided by another embodiment of the present application.

[0041] Reference numerals: 1. Humanoid robot; 10. Head and neck assembly; 100. Second accommodation space; 101. Upper side; 102. Lower side; 103. Front side; 104. Rear side; 105. Left side; 106. Right side; 107. First gap; 1070. Middle part; 1071. Narrowing part; 108. Second gap; 109. Third gap; 1090. Fourth gap; 11. Head assembly; 110. First accommodation space; 111. Opening; 112. Front mask; 1120. Groove; 113. Rear mask; 114. Left mask; 115. Right mask; 12. Neck assembly; 120. Neck housing; 1200. Extension; 1201. Main neck housing; 121. Mounting bracket; 122. Mounting base; 13. First drive assembly; 130. First rotation output part; 131. First drive body; 14. First limiting member; 15. Second limiting member; 16. First limited member; 17. First support member; 170. First annular connection part; 171. Neck connection part; 18. Second support member; 180. Second annular connection part; 181. Support connection part; 19. Rotating connection member; 190. Head connection part; 191. Connection shaft part; 20. First device; 21. Second drive assembly; 210. Second rotation output part; 211. Second drive body; 22. Second limited member; 220. Third annular connection part; 221. Limited part; 2210. Second positioning hole; 23. First vision sensor; 24. Display screen body; 30. Trunk assembly; 31. Shoulder member; 310. First shoulder; 311. Middle part; 3110. First positioning hole; 312. Second shoulder; L1. First axis; L2. Second axis; L3. Normal line; X1. First direction; X2. Second direction; X3. Third direction. Detailed implementation manners

[0042] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all 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 shall fall within the protection scope of the present application.

[0043] In recent years, significant progress has been made in humanoid robot technology, which has frequently appeared in various professional competitions, scientific research explorations, and potential application scenarios. Humanoid robots have gradually moved from the laboratory to a broader practical application field, with their intelligent level and motion ability continuously improving, playing an important role in multiple fields such as home service, medical care, and industrial production.

[0044] As an important part of a humanoid robot, the head and neck assembly usually consists of a head structure and a neck structure that are connected to each other. The head structure can rotate relative to the neck structure to complete nodding, tilting up, or shaking left and right. However, the existing head and neck assemblies have poor simulation. For example, the drive structure that drives the head structure to rotate relative to the neck structure is exposed, and users can directly see this drive structure, or the connection and transition between the head structure and the neck structure are unreasonable, resulting in an incoherent appearance of the head and neck structure, etc., making it difficult to give a natural and realistic feeling, seriously affecting the appearance image of the humanoid robot, leading to low user acceptance and recognition, poor user experience, and restricting the application of humanoid robots in some scenarios with high requirements for simulation, such as film production, theme park interaction, etc.

[0045] In view of the above problems, an embodiment of the present application provides a head and neck assembly, including: a head assembly having a first accommodation space and an opening, and the first accommodation space can communicate with the outside through the opening; a neck assembly located on one side of the head assembly facing the first direction, with the opening facing the neck assembly, and the neck assembly extends into the first accommodation space through the opening and encloses a second accommodation space with the head assembly; a first drive assembly disposed in the neck assembly, located in the second accommodation space, and connected to the head assembly, and the first drive assembly is used to drive the head assembly to rotate relative to the neck assembly around a first axis, and the extending direction of the first axis is perpendicular to the first direction; wherein, when the rotation angle of the head assembly relative to the neck assembly around the first axis is 0 degrees, there is a gap between the edge of the neck assembly and the edge of the opening.

[0046] For the head and neck assembly provided by the embodiment of the present application, the head assembly has a first accommodation space and an opening, and the first accommodation space can communicate with the outside through the opening. The neck assembly is located on one side of the head assembly facing the first direction, and the opening faces the neck assembly, so that the neck assembly can extend into the first accommodation space through the opening, thereby making the transition at the junction of the head assembly and the neck assembly more coherent and natural, increasing the simulation degree of the head and neck assembly, improving the appearance image of the humanoid robot, enhancing user acceptance, recognition, and user experience, and expanding the application of humanoid robots in some scenarios with high requirements for simulation, such as film production, theme park interaction, etc.

[0047] In addition, the first drive assembly drives the head assembly to rotate relative to the neck assembly around the first axis, and the neck assembly and the head assembly enclose a second accommodation space, so that the first drive assembly can be located in the second accommodation space and supported by the neck assembly, enabling the first drive assembly to drive the head assembly to rotate around the first axis without being directly exposed to the outside, and when the humanoid robot is in a state of standing upright on both feet on a horizontal plane, it is difficult for users to see the second accommodation space when looking along the horizontal direction, making the appearance of the head and neck assembly more coherent and natural, and further increasing the simulation degree of the head and neck assembly.

[0048] Meanwhile, when the rotation angle of the head component relative to the neck component about the first axis is 0 degree, there is a gap between the edge of the neck component and the edge of the opening, providing clearance for the rotation of the head component relative to the neck component about the first axis, enabling the head component to rotate smoothly relative to the neck component about the first axis, making the channel for the second accommodation space to communicate with the outside smaller, making it more difficult for the second accommodation space to be seen by the user, and allowing the heat in the second accommodation space to be released to the outside through this gap, facilitating the heat dissipation of the head and neck assembly.

[0049] The following describes the specific structures of the head and neck assembly and the humanoid robot in conjunction with the accompanying drawings and specific embodiments.

[0050] Figure 1 The figure shows a schematic structural diagram of a head and neck assembly and a torso assembly provided by an embodiment of the present application. Figure 2 Shown is provided by an embodiment of the present application Figure 1 The front view of the head and neck assembly and the torso assembly shown. Figure 3 Shown is provided by an embodiment of the present application Figure 1 The right view of the head and neck assembly and the torso assembly shown. Figure 4 Shown is provided by an embodiment of the present application Figure 3 The schematic cross-sectional view of the head and neck assembly along line AA in the figure. Figure 5 Shown is provided by an embodiment of the present application Figure 2 The schematic cross-sectional view of the head and neck assembly and the torso assembly along line BB in the figure. Figure 6 The figure shows a schematic structural diagram of a humanoid robot provided by an embodiment of the present application. Figure 7 The figure shows a schematic structural diagram of a neck component provided by an embodiment of the present application. Figure 8 The figure shows a schematic structural diagram of the head and neck assembly and the torso assembly after removing the front mask provided by an embodiment of the present application. Figure 9 The figure shows a schematic structural diagram of the head and neck assembly after removing the front mask provided by an embodiment of the present application. Figure 10 The figure shows a schematic structural diagram of the head and neck assembly after removing the front mask provided by another embodiment of the present application. Figure 11 The figure shows a schematic structural diagram of the head and neck assembly after removing the front mask provided by still another embodiment of the present application.

[0051] As Figures 1 to 11 Shown, the head and neck assembly 10 includes: a head component 11, a neck component 12, and a first drive component 13.

[0052] Exemplarily, the head and neck assembly 10 can be applied to the humanoid robot 1. The humanoid robot 1 can include a head and neck assembly 10 and a torso assembly 30. The head and neck assembly 10 is connected to the torso assembly 30. The outer shapes of both the head and neck assembly 10 and the torso assembly 30 can be set to be humanoid shapes. For example, the outer shape of the head component 11 can be set to be the shape of a human head, the outer shape of the neck component 12 can be set to be the shape of a human neck, and the outer shape of the torso assembly 30 can be set to be the shape of a human torso.

[0053] The head component 11 has a first accommodation space 110 and an opening 111. The first accommodation space 110 can communicate with the outside through the opening 111. The neck component 12 is located on one side of the head component 11 facing the first direction X1, the opening 111 faces the neck component 12, and the neck component 12 extends into the first accommodation space 110 through the opening 111 and encloses a second accommodation space 100 with the head component 11.

[0054] Exemplarily, the head and neck assembly 10 can have an upper side 101 and a lower side 102 arranged opposite to each other. The first direction X1 points from the upper side 101 to the lower side 102. The first direction X1 can also be the direction from the upper side of the humanoid robot 1 to the lower side of the humanoid robot 1. The side of the neck component 12 facing the upper side 101 extends into the first accommodation space 110 through the opening 111. The first accommodation space 110 accommodates the side of the neck component 12 facing the upper side 101. Exemplarily, the side of the head and neck assembly 10 facing the lower side 102 is connected to the torso assembly 30. The connection manner between the head and neck assembly 10 and the torso assembly 30 can be snap connection, screw connection, bonding, magnetic attraction connection, etc., and no specific limitation is made in this embodiment.

[0055] Exemplarily, the head and neck assembly 10 can have a front side 103 and a rear side 104, and the front side 103 and the rear side 104 can be arranged opposite to each other along the second direction X2. The second direction X2 can also be the front-rear direction of the humanoid robot 1. Exemplarily, the head and neck assembly 10 can have a left side 105 and a right side 106, and the left side 105 and the right side 106 can be arranged opposite to each other along the third direction X3. The third direction X3 can also be the left-right direction of the humanoid robot 1.

[0056] Specifically, when the neck component 12 extends into the first accommodation space 110 through the opening 111, it can block at least part of the opening 111 communicating with the outside, forming the second accommodation space 100.

[0057] The first driving component 13 is arranged on the neck component 12, located in the second accommodation space 100, and is connected to the head component 11. The first driving component 13 is used to drive the head component 11 to rotate relative to the neck component 12 around the first axis L1. The extending direction of the first axis L1 is perpendicular to the first direction X1.

[0058] Specifically, the neck assembly 12 provides support for the first driving assembly 13. The neck assembly 12 extends into the first accommodation space 110 through the opening 111. The second accommodation space 100 enclosed by the neck assembly 12 and the head assembly 11 accommodates the first driving assembly 13, which can prevent the first driving assembly 13 from being directly exposed to the outside. When the humanoid robot 1 stands upright on the horizontal plane with both feet, it is difficult for the user to see the first driving assembly 13 when looking along the horizontal direction.

[0059] Exemplarily, the first driving assembly 13 may include one or a combination of the following driving structures: gear sets, sprocket chains, lead screw guides, power cylinders, motors, and crank sliders. Exemplarily, the first driving assembly 13 may include a motor, such as a stepper motor or a servo motor. Optionally, the first driving assembly 13 is a joint module. The shape of the first driving assembly 13 may include a columnar shape.

[0060] Exemplarily, the extending direction of the first axis L1 may be parallel to the second direction X2. The first driving assembly 13 may be used to drive the head assembly 11 to perform a left - right swinging motion. Exemplarily, the extending direction of the first axis L1 may be parallel to the third direction X3. The first driving assembly 13 may be used to drive the head assembly 11 to perform a pitching motion, that is, to raise or lower the head.

[0061] When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, there is a gap between the edge of the neck assembly 12 and the edge of the opening 111.

[0062] When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, the head assembly 11 may be in the neutral position in human anatomy. Exemplarily, as Figure 3 and Figure 9 shown, the extending direction of the first axis L1 may be parallel to the third direction X3. When the head assembly 11 rotates clockwise about the first axis L1 from the neutral position, the head assembly 11 performs a head - raising motion. When the head assembly 11 rotates counterclockwise about the first axis L1 from the neutral position, the head assembly 11 performs a head - lowering motion.

[0063] Since the head assembly 11 can rotate relative to the neck assembly 12 about the first axis L1, the edge of the opening 111 may have a displacement along the second direction X2 or the third direction X3. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, there is a gap between the edge of the neck assembly 12 and the edge of the opening 111, which can provide clearance for the rotation of the head assembly 11 relative to the neck assembly 12 about the first axis L1, so that the head assembly 11 can rotate smoothly relative to the neck assembly 12 about the first axis L1. Exemplarily, the neck assembly 12 has a center line extending along the first direction X1, and the edges of the neck assembly 12 may be distributed circumferentially around the center line.

[0064] Exemplarily, when the rotation angle of the head component 11 relative to the neck component 12 about the first axis L1 is 0 degree, there are gaps between the neck component 12 and the edge of the opening 111 along the second direction X2 and the third direction X3.

[0065] Exemplarily, the head component 11 may include a front mask 112, a rear mask 113, a left mask 114, and a right mask 115. In the circumferential direction about the first direction X1, the front mask 112, the left mask 114, the rear mask 113, and the right mask 115 are smoothly connected in sequence and enclose a first accommodation space 110 and the edge of the opening 111. The front mask 112 is arranged toward the front side 103, the left mask 114 is arranged toward the left side 105, the rear mask 113 is arranged toward the rear side 104, and the right mask 115 is arranged toward the right side 106. Exemplarily, the front mask 112, the left mask 114, the rear mask 113, and the right mask 115 are detachably connected.

[0066] Exemplarily, the head and neck component 10 further includes one or more second devices. The second device may be arranged at the middle of the front side 103 of the head component 11 or on the inner wall facing the upper side 101, and the second device may also be arranged on the inner wall of the rear side 104 of the head component 11. Exemplarily, the second device may be a first vision sensor 23. The first vision sensor 23 may be arranged on one side of the front mask 112 facing the upper side 101 for obtaining object information on the front side 103 of the head and neck component 10. The first vision sensor 23 may also be arranged on the rear mask 113 for obtaining object information on the rear side 104 of the head and neck component 10. Exemplarily, the first vision sensor 23 may include a camera, a video camera, or a webcam. For example, the first vision sensor 23 may be a fish-eye camera.

[0067] Exemplarily, the second device may be a display screen body 24. The display screen body 24 is arranged on the inner wall at the middle of the front side 103 of the head component 11 for displaying information. For example, the display screen body 24 may be used to display expressions or texts.

[0068] For the head and neck component 10 provided in this embodiment, the head component 11 has a first accommodation space 110 and an opening 111. The first accommodation space 110 can communicate with the outside through the opening 111. The neck component 12 is located on the side of the head component 11 facing the first direction X1, and the opening 111 faces the neck component 12, so that the neck component 12 can extend into the first accommodation space 110 through the opening 111, thereby making the junction between the head component 11 and the neck component 12 more coherent and natural in transition, increasing the simulation degree of the head and neck component 10, improving the appearance image of the humanoid robot 1, enhancing the user acceptance, recognition, and user experience, and expanding the application of the humanoid robot 1 in some scenarios with high requirements for simulation degree, such as film production, theme park interaction, etc.

[0069] In addition, the first driving component 13 drives the head component 11 to rotate relative to the neck component 12 about the first axis L1. The neck component 12 and the head component 11 enclose a second accommodation space 100, so that the first driving component 13 can be located in the second accommodation space 100 and supported by the neck component 12. When the first driving component 13 drives the head component 11 to rotate about the first axis L1, it is not directly exposed to the outside. When the humanoid robot 1 stands upright on the horizontal plane with both feet, it is difficult for the user to see the second accommodation space 100 when looking along the horizontal direction, making the appearance of the head and neck component 10 more coherent and natural, and further increasing the simulation degree of the head and neck component 10.

[0070] Meanwhile, when the rotation angle of the head component 11 relative to the neck component 12 about the first axis L1 is 0 degree, there is a gap between the edge of the neck component 12 and the edge of the opening 111, providing clearance for the rotation of the head component 11 relative to the neck component 12 about the first axis L1, enabling the head component 11 to rotate smoothly relative to the neck component 12 about the first axis L1. Also, the channel for the second accommodation space 100 to communicate with the outside is smaller, making it more difficult for the second accommodation space 100 to be seen by the user. Moreover, the heat in the second accommodation space 100 can be released to the outside through this gap, facilitating the heat dissipation of the head and neck component 10.

[0071] In some embodiments, as Figure 4 、 Figure 5 and Figure 7 shown, the neck component 12 includes: a neck housing 120 and a mounting bracket 121. The neck housing 120 is located on the side of the head component 11 facing the first direction X1. The side of the neck housing 120 facing the head component 11 has an extension 1200. The extension 1200 is annular, extends in the opposite direction of the first direction X1, and extends into the first accommodation space 110 through the opening 111. The neck housing 120 and the head component 11 enclose the second accommodation space 100. When the rotation angle of the head component 11 relative to the neck component 12 about the first axis L1 is 0 degree, there is a gap between the outer surface of the extension 1200 and the edge of the opening 111.

[0072] By extending the extension 1200 into the first accommodation space 110 through the opening 111, with the extension 1200 being annular and having a gap between the outer surface of the extension 1200 and the edge of the opening 111 when the rotation angle of the head component 11 relative to the neck component 12 about the first axis L1 is 0 degree, the shape of the part of the neck housing 120 except the extension 1200 can be set to resemble the shape of a human neck.

[0073] Exemplarily, the neck housing 120 includes a neck main housing 1201 and an extension portion 1200. The extension portion 1200 is disposed on a side of the neck main housing 1201 facing the head assembly 11. Exemplarily, the outer shape of the neck main housing 1201 can be set to the shape of an imitation human neck. Exemplarily, as Figure 3 and Figure 5 shown, along the first direction X1, the portion of the extension portion 1200 facing the rear side 104 and the portion facing the front side 103 are arranged in sequence. Such an arrangement enables the outer shape of the neck main housing 1201 to be more closely approximated to the shape of a human neck. For example, when the first direction X1 is the vertical direction, the portion of the extension portion 1200 facing the front side 103 is lower than the portion of the extension portion 1200 facing the rear side 104.

[0074] Exemplarily, the edge of the opening 111 is annular. The junction of the extension portion 1200 and the neck main housing 1201 is also annular. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, the plane formed by the edge of the opening 111 is parallel to the plane formed by the junction of the extension portion 1200 and the neck main housing 1201. Exemplarily, as Figure 5 shown, the direction of the normal line L3 of the plane formed by the junction of the extension portion 1200 and the neck main housing 1201 faces the lower side 102, and the normal line L3 forms an angle with the first direction X1, and the angle can be greater than 15 degrees and less than or equal to 25 degrees. For example, the angle can be equal to 20 degrees.

[0075] Exemplarily, along the first direction X1, the dimension of the extension portion 1200 facing the front side 103 can be greater than or equal to the dimension of the extension portion 1200 facing the rear side 104. Since the head-up angle of the head assembly 11 is generally greater than or equal to the head-down angle of the head assembly 11, in the case where the head assembly 11 can perform head-up and head-down movements, such an arrangement can more easily prevent the components in the second accommodation space 100 from being exposed.

[0076] Exemplarily, the neck housing 120 can be an integral structure, that is, the neck housing 120 is an integral structure manufactured by an integral molding process. The integral molding process can specifically be stamping, casting, etc., and this embodiment does not make specific limitations. The neck housing 120 can also be a split structure, and the neck main housing 1201 and the extension portion 1200 can be connected and fixed by welding, riveting, snap connection, screwing, etc., and this embodiment does not make specific limitations.

[0077] The mounting bracket 121 is located in the second accommodation space 100 and is connected to the inner surface of the neck housing 120. The first driving assembly 13 is disposed on the mounting bracket 121. Exemplarily, the mounting bracket 121 can include a plurality of mounting members. One or more of the plurality of mounting members can form an integral structure with the neck housing 120.

[0078] For the head and neck assembly 10 provided in this embodiment, the neck assembly 12 includes a neck housing 120 and a mounting bracket 121 and other hollow structures, making the weight of the neck assembly 12 relatively light and facilitating the layout and accommodation of the circuits in the head and neck assembly 10. Moreover, since the extension portion 1200 extends into the first accommodation space 110 from the opening 111 and the extension portion 1200 is annular, when the rotation angle of the head assembly 11 relative to the neck assembly 12 around the first axis L1 is [angle value], there is a gap between the outer surface of the extension portion 1200 and the edge of the opening 111, so that the shape of the part of the neck housing 120 except the extension portion 1200 does not need to avoid the head assembly 11 and can be set to the shape of a human neck, further improving the simulation degree of the head and neck assembly 10 and enhancing the appearance image of the humanoid robot 1.

[0079] In addition, since the extension portion 1200 extends in the opposite direction of the first direction X1, it is beneficial to reduce the space occupied by the extension portion 1200 in the first accommodation space 110, reduce the influence of the extension portion 1200 on the movement of the head assembly 11, and also facilitate the layout of various components in the second accommodation space 100.

[0080] Figure 12 The figure shows a schematic structural diagram of a left mask provided in an embodiment of the present application.

[0081] In some embodiments, such as Figure 5 and Figures 9 to 12 shown, the first driving assembly 13 includes: a first rotation output portion 130 and a first driving main body 131. The rotation axis of the first rotation output portion 130 is collinear with the first axis L1. The first rotation output portion 130 is connected to the head assembly 11 and is used to drive the head assembly 11 to rotate around the first axis L1. The first driving main body 131 is disposed on the neck assembly 12, located in the second accommodation space 100, and is connected to the first rotation output portion 130 and is used to drive the first rotation output portion 130 to rotate around the first axis L1.

[0082] Exemplarily, the first driving assembly 13 may include a motor. The first rotation output portion 130 may be the mover of the motor, and the first driving main body 131 may be the stator of the motor. This enables the mover of the motor to be directly connected to the head assembly 11 without passing through additional components such as connecting rods, which is beneficial to simplifying the structure of the head and neck assembly 10 and facilitating the calculation and control of the movement of the head assembly 11.

[0083] Exemplarily, the orthographic projection of the first rotation output portion 130 on the inner wall of the side connected to the head assembly 11 along the extension direction of the first axis L1 is not blocked by the neck assembly 12. Exemplarily, the first rotation output portion 130 may be a rotary body, and the rotation center line of the first rotation output portion 130 is the rotation axis of the first rotation output portion 130. Exemplarily, the first rotation output portion 130 may be connected to the inner wall of the left face mask 114 or the right face mask 115. Exemplarily, the left face mask 114 may be provided with a connection hole, and the first rotation output portion 130 is screwed to the left face mask 114 through a screw passing through the connection hole.

[0084] Exemplarily, the first axis L1 is located in the coronal plane (a professional term in human anatomy) of the humanoid robot 1. Such a setting is beneficial to simplifying the calculation and control of the movement of the head assembly 11.

[0085] In the neck and head assembly 10 provided in this embodiment, the first drive assembly 13 includes a first rotation output portion 130 and a first drive body 131. The first rotation output portion 130 is directly connected to the head assembly 11 and drives the head assembly 11 to rotate around the first axis L1. The first drive body 131 is disposed in the neck assembly 12, located in the second accommodation space 100, and is connected to the first rotation output portion 130 for driving the first rotation output portion 130 to rotate around the first axis L1. The structure of the first drive assembly 13 is simple, and by directly driving the head assembly 11 to rotate through the first rotation output portion 130, it is no longer necessary to use components such as connecting rods, which is beneficial to simplifying the structure of the neck and head assembly 10.

[0086] Figure 13 The figure shows a schematic structural diagram of a first drive assembly, a first limiting member, and a second limiting member provided in an embodiment of the present application.

[0087] In some embodiments, as Figures 9 to 13 shown, the neck and head assembly 10 further includes: a first limiting member 14, a second limiting member 15, and a first limited member 16. The first limiting member 14 is located in the second accommodation space 100, disposed on the first drive body 131, and is located in the circumferential direction of the first axis L1. The second limiting member 15 is located in the second accommodation space 100, disposed on the first drive body 131, and is spaced apart from the first limiting member 14 along the circumferential direction of the first axis L1. The first limited member 16 is disposed on the inner wall of the head assembly 11, located in the circumferential direction of the first axis L1, and extends into the space between the first limiting member 14 and the second limiting member 15.

[0088] Exemplarily, the first rotation output portion 130 may be connected to the inner wall of the left face mask 114, and the first limited member 16 may be disposed on the inner wall of the left face mask 114. Exemplarily, the first rotation output portion 130 may be connected to the inner wall of the right face mask 115, and the first limited member 16 may be disposed on the inner wall of the right face mask 115.

[0089] Exemplarily, along the circumferential direction of the first axis L1, one side of the first limiting member 14 facing the first member to be limited 16 can be a plane, one side of the second limiting member 15 facing the first member to be limited 16 can be a plane, and both sides of the first member to be limited 16 facing the first limiting member 14 and the second limiting member 15 are planes. When the first member to be limited 16 abuts against the first limiting member 14, the plane of the first member to be limited 16 facing the first limiting member 14 fits with the plane of the first limiting member 14 facing the first member to be limited 16. When the first member to be limited 16 abuts against the second limiting member 15, the plane of the first member to be limited 16 facing the second limiting member 15 fits with the plane of the second limiting member 15 facing the first member to be limited 16. Such a setting can increase the contact area when the first limiting member 14 and the second limiting member 15 abut against the first member to be limited 16, thereby enhancing the bearing capacity and stability of the limiting structure formed by the first limiting member 14, the second limiting member 15 and the first member to be limited 16, and improving the reliability and service life of the limiting structure.

[0090] The head and neck assembly 10 provided in this embodiment further includes a limiting structure formed by a first limiting member 14, a second limiting member 15 and a first member to be limited 16. The first limiting member 14 and the second limiting member 15 are located in the second accommodation space 100, are provided on the first driving body 131, and are located in the circumferential direction of the first axis L1. The second limiting member 15 is arranged at an interval from the first limiting member 14 along the circumferential direction of the first axis L1. The first member to be limited 16 is provided on the inner wall of the head assembly 11, is located in the circumferential direction of the first axis L1, and extends into the interval between the first limiting member 14 and the second limiting member 15, so that the first limiting member 14 and the second limiting member 15 can limit the rotation angle of the head assembly 11 around the first axis L1, preventing the rotation angle of the head assembly 11 around the first axis L1 from being too large due to factors such as the abnormality of the first driving assembly 13 or the head and neck assembly 10 being subjected to external forces, which may damage the head assembly 11. Moreover, the structure of this limiting structure is simple, which is beneficial to simplifying the structure of the head and neck assembly 10 and reducing the weight of the head and neck assembly 10.

[0091] In some embodiments, as Figures 9 to 13 shown, the first rotation output portion 130 protrudes from the first driving body 131 towards the first member to be limited 16 along the extension direction of the first axis L1. The head and neck assembly 10 further includes: a first support member 17. The first support member 17 is provided on the neck assembly 12 and is located in the second accommodation space 100.

[0092] The first support member 17 includes a first annular connection portion 170 and a neck connection portion 171 that are connected to each other. The first annular connection portion 170 is disposed on the side of the first driving main body 131 facing the first limited member 16, and is connected to the end face of the first driving main body 131 facing the first limited member 16. The first rotation output portion 130 passes through the central hole of the first annular connection portion 170 and is connected to the inner wall of the head assembly 11. The neck connection portion 171 is connected to the neck assembly 12. The first limiting member 14 and the second limiting member 15 are connected to the circumferential side surface of the first annular connection portion 170.

[0093] Since the first rotation output portion 130 protrudes from the first driving main body 131 toward the first limited member 16 along the extending direction of the first axis L1, there is a gap between the end face of the first driving main body 131 facing the first limited member 16 and the inner wall of the head assembly 11. As a result, the first annular connection portion 170 can be disposed on the side of the first driving main body 131 facing the first limited member 16 and connected to the end face of the first driving main body 131 facing the first limited member 16, and the first rotation output portion 130 can pass through the central hole of the first annular connection portion 170 and be connected to the inner wall of the head assembly 11 without interfering with the first annular connection portion 170.

[0094] Exemplarily, the shape of the first driving main body 131 includes a columnar shape, and the center line of the first driving main body 131 extends along the extending direction of the first axis L1. The cross-sectional shape of the central hole of the first annular connection portion 170 includes a circular shape. Exemplarily, the first annular connection portion 170 can be screwed, snapped, or adhered to the end face of the first driving main body 131 facing the first limited member 16.

[0095] Exemplarily, the first support member 17 can be an integral structure, that is, the first support member 17 is an integral structure made by an integral molding process. The integral molding process can specifically be stamping, casting, etc., and is not specifically limited in this embodiment. The first support member 17 can also be a split structure, and the first annular connection portion 170 and the neck connection portion 171 can be connected and fixed by welding, riveting, snapping, screwing, etc., which is not specifically limited in this embodiment. Exemplarily, the first limiting member 14, the second limiting member 15, and the first support member 17 can form an integral structure. Such a setting is beneficial to reducing the number of components of the head and neck assembly 10 and improving the assembly efficiency.

[0096] The head and neck assembly 10 provided in this embodiment has the first rotation output portion 130 protruding the first driving body 131 toward the first limited member 16 along the extension direction of the first axis L1, so that the end face of the first driving body 131 facing the first limited member 16 is spaced from the inner wall of the head assembly 11, so that the first annular connecting portion 170 can be arranged on the side of the first driving body 131 facing the first limited member 16 and connected to the end face of the first driving body 131 facing the first limited member 16, the first rotation output portion 130 can pass through the center hole of the first annular connecting portion 170 and be connected to the inner wall of the head assembly 11 without interfering with the first annular connecting portion 170, and the neck connecting portion 171 is connected to the neck assembly 12, thereby realizing the support of the first driving assembly 13 by the first support member 17.

[0097] In addition, since the first limit member 14 and the second limit member 15 are connected to the circumferential side surface of the first annular connection portion 170, the first rotation output portion 130 protrudes toward the first limited member 16 along the extension direction of the first axis L1, so that the first annular connection portion 170 can be arranged on the side of the first driving body 131 facing the first limited member 16, and connected to the end face of the first driving body 131 facing the first limited member 16, so that along the extension direction of the first axis L1, the first limit member 14 and the second limit member 15 can be closer to the first limited member 16, so that the dimension of the first limited member 16 along the extension direction of the first axis L1 can be set shorter, and the positional relationship between the first driving component 13, the first limit member 14, the second limit member 15, the first limited member 16 and the first support member 17 is closer, the structure of the head and neck component 10 is more compact, and it is convenient to arrange other components in the second accommodating space 100.

[0098] Figure 14 Shown is a schematic structural diagram of a second support member and a rotating connecting member provided in one embodiment of the present application.

[0099] In some embodiments, Figure 9 , Figure 11 and Figure 14 As shown, the head and neck assembly 10 further includes: a second support member 18 and a rotating connection member 19. The second support member 18 is located in the second accommodating space 100, is disposed in the neck assembly 12, and is located on the side of the first support member 17 away from the first limited member 16. The rotating connection member 19 is located in the second accommodating space 100, one side of the rotating connection member 19 is rotatably connected to the second support member 18 around the first axis L1, and the other side of the rotating connection member 19 is connected to the inner wall of the head assembly 11 opposite to the first limited member 16 along the extension direction of the first axis L1.

[0100] Since the first driving assembly 13 is only connected to one side of the inner wall of the head assembly 11 along the extending direction of the first axis L1, the head assembly 11 is prone to tremors during rotation. The rotating connecting member 19 is connected to the inner wall of the head assembly 11 opposite to the first limited member 16 along the extending direction of the first axis L1, so that the second support member 18 and the rotating connecting member 19 can support the other side of the inner wall of the head assembly 11, improving the stability of the head assembly 11 during the rotation movement and increasing the service life of the connection between the first support member 17, the first driving assembly 13 and the head assembly 11.

[0101] Exemplarily, the second support member 18 includes a second annular connecting portion 180 and a support connecting portion 181 that are connected to each other. The support connecting portion 181 is connected to the inner surface of the neck assembly 12. The rotating connecting member 19 includes a head connecting portion 190 and a connecting shaft portion 191 that are connected to each other. The connecting shaft portion 191 is located on the side of the head connecting portion 190 facing the first limited member 16. The connecting shaft portion 191 passes through the central hole of the second annular connecting portion 180 and is rotatably connected to the second annular connecting portion 180 through a bearing. The head connecting portion 190 is connected to the inner wall of the head assembly 11 opposite to the first limited member 16 along the extending direction of the first axis L1. Exemplarily, the head connecting portion 190 is screwed, snapped or adhered to the inner wall of the head assembly 11 opposite to the first limited member 16 along the extending direction of the first axis L1.

[0102] Exemplarily, the other side of the rotating connecting member 19 can be screwed, snapped or adhered to the inner wall of the head assembly 11 opposite to the first limited member 16 along the extending direction of the first axis L1.

[0103] Exemplarily, the first limited member 16 can be disposed on the inner wall of the left face mask 114, the first driving assembly 13 is connected to the inner wall of the left face mask 114, and the head connecting portion 190 is connected to the inner wall of the right face mask 115.

[0104] The head and neck assembly 10 provided in this embodiment further includes a second support member 18 and a rotating connection member 19. The second support member 18 is located in the second accommodating space 100, is arranged in the neck assembly 12, and is located on the side of the first support member 17 away from the first limited member 16. The rotating connection member 19 is located in the second accommodating space 100. One side of the rotating connection member 19 is rotatably connected to the second support member 18 around the first axis L1, and the other side of the rotating connection member 19 is connected to the inner wall of the head assembly 11 opposite to the first limited member 16 along the extension direction of the first axis L1, so that the second support member 18 and the rotating connection member 19 are connected to each other. The dynamic connecting member 19 can support the inner wall of the head assembly 11 opposite to the first limited member 16 along the extension direction of the first axis L1, so that along the extension direction of the first axis L1, the first driving assembly 13 cooperates with the second supporting member 18 and the rotating connecting member 19 to support both sides of the inner wall of the head assembly 11, thereby avoiding the vibration of the head assembly 11 when it rotates due to the unilateral support of the first driving assembly 13, improving the stability of the head assembly 11 when it rotates, and improving the life of the first supporting member 17 and the connection between the first driving assembly 13 and the head assembly 11.

[0105] In some embodiments, the head and neck assembly 10 has a left side 105 and a right side 106, and the left side 105 and the right side 106 are arranged opposite to each other along the extension direction of the first axis L1. This arrangement enables the first drive assembly 13 to drive the head assembly 11 to raise and lower the head, so as to meet the action requirements of the head and neck assembly 10 in most application scenarios.

[0106] Exemplarily, along the circumference of the first axis L1, the side of the first limiting member 14 facing the first limited member 16 may be a plane, the side of the second limiting member 15 facing the first limited member 16 may be a plane, and the side of the first limited member 16 facing the first limiting member 14 and the side facing the second limiting member 15 are both planes. The angle between the plane of the first limiting member 14 facing the first limited member 16 and the plane of the second limiting member 15 facing the first limited member 16 is 30 degrees to 50 degrees. For example, the angle between the plane of the first limiting member 14 facing the first limited member 16 and the plane of the second limiting member 15 facing the first limited member 16 may be 40 degrees. Exemplarily, the head-up angle of the head assembly 11 may be 25 degrees, and the head-down angle of the head assembly 11 may be 15 degrees.

[0107] In some embodiments, Figure 4 and Figure 5As shown, the head and neck assembly 10 has a front side 103 and a rear side 104, which are arranged away from each other along the second direction X2. The second direction X2 is perpendicular to the extension directions of both the first direction X1 and the first axis L1. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, there is a first gap 107 between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12, and a second gap 108 between the inner wall of the rear side 104 of the head assembly 11 and the neck assembly 12. The first gap 107 and the second gap 108 are used to allow the head assembly 11 to rotate about the first axis L1 between a first position and a second position.

[0108] Since the left side 105 and the right side 106 are arranged away from each other along the extension direction of the first axis L1, the first drive assembly 13 can drive the head assembly 11 to perform raising and lowering actions. By providing the first gap 107 and the second gap 108, the neck assembly 12 can avoid the raising and lowering actions of the head assembly 11 and allow the head assembly 11 to rotate smoothly about the first axis L1 between the first position and the second position.

[0109] Exemplarily, the first position may be the position when the head assembly 11 rotates about the first axis L1 to the maximum raising angle during the raising action. For example, the first position may be the position when the head assembly 11 raises 25 degrees. Exemplarily, the second position may be the position when the head assembly 11 rotates about the first axis L1 to the maximum lowering angle during the lowering action. For example, the second position may be the position when the head assembly 11 lowers 15 degrees.

[0110] Exemplarily, when the head assembly 11 is in the first position and / or the second position, the edge of the neck assembly 12 may abut against the edge of the opening 111, or may have a gap without contacting the edge of the opening 111.

[0111] In some embodiments, the head and neck assembly 10 may have a left side 105 and a right side 106, and the left side 105 and the right side 106 may be arranged away from each other along the third direction X3. The third direction X3 is perpendicular to both the first direction X1 and the second direction X2. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, along the third direction X3, the first gap 107 has an intermediate portion 1070 and narrowing portions 1071 located on both sides of the intermediate portion 1070. Along the second direction X2, the size of the intermediate portion 1070 is larger than the size of the narrowing portions 1071.

[0112] Since, along the direction perpendicular to the first axis L1, the distance between the edge of the head component 11 corresponding to the middle portion 1070 and the first axis L1 is generally greater than the distance between the edge of the head component 11 corresponding to the narrowing portion 1071 and the first axis L1, that is to say, around the first axis L1, the radius of rotation of the edge of the head component 11 corresponding to the middle portion 1070 is generally greater than the radius of rotation of the edge of the head component 11 corresponding to the narrowing portion 1071. By setting the size of the middle portion 1070 in the second direction X2 to be greater than the size of the narrowing portion 1071, it is possible to further avoid interference of the neck component 12 with the rotation of the head component 11 around the first axis L1, and enable the overall size of the first gap 107 to be set smaller, and the inner wall of the front side 103 of the head component 11 to be closer to the neck component 12, avoiding the exposure of the components in the second accommodation space 100.

[0113] Exemplarily, the two narrowing portions 1071 are symmetrically distributed on both sides of the middle portion 1070. Exemplarily, along the direction away from the middle portion 1070, the size of the narrowing portion 1071 gradually decreases in the third direction X3.

[0114] In some embodiments, when the rotation angle of the head component 11 relative to the neck component 12 around the first axis L1 is 0 degree, along the direction perpendicular to the extension direction of the edge of the rear side 104 of the neck component 12, the sizes of the second gaps 108 are equal, and along the second direction X2, the size of the middle portion 1070 is greater than the size of the second gaps 108.

[0115] Since the connection between the human neck and the back of the head is usually arc-shaped, along the direction perpendicular to the extension direction of the edge of the rear side 104 of the neck component 12, the sizes of the second gaps 108 are equal, enabling the edge of the neck component 12 and the opening 111 corresponding to the second gaps 108 to be set in an arc shape, making the shape of the neck component 12 closer to the shape of the human neck. In addition, along the second direction X2, the size of the middle portion 1070 is greater than the size of the second gaps 108, which can avoid interference of the neck component 12 with the rotation of the head component 11 around the first axis L1 while enabling the overall size of the second gaps 108 to be set smaller, and the inner wall of the rear side 104 of the head component 11 to be closer to the neck component 12, avoiding the exposure of the components in the second accommodation space 100.

[0116] Exemplarily, the shape of the orthographic projection of the second gaps 108 on the plane formed by the second direction X2 and the third direction X3 includes an annular segment. Along the extension direction of the annular segment, the width of the annular segment is equal.

[0117] Exemplarily, there is a third gap 109 between the inner wall of the left side 105 of the head assembly 11 and the neck assembly 12, and a fourth gap 1090 between the inner wall of the right side 106 of the head assembly 11 and the neck assembly 12. Among the inner walls of the head assembly 11 facing the neck assembly 12, the inner walls of the front side 103, the rear side 104, the left side 105, and the right side 106 of the head assembly 11 enclose the edge of the opening 111. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, the gaps between the edge of the neck assembly 12 and the edge of the opening 111 include a first gap 107, a third gap 109, a second gap 108, and a fourth gap 1090 that are connected in sequence.

[0118] Exemplarily, when the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, along the extension direction perpendicular to the edge of the neck assembly 12, the sizes of the third gap 109, the second gap 108, and the fourth gap 1090 are all equal. Exemplarily, the shapes of the positive projections of the third gap 109, the second gap 108, and the fourth gap 1090 on the plane formed by the second direction X2 and the third direction X3 include an annular segment. Along the extension direction of the annular segment, the widths of the annular segment are equal.

[0119] In some embodiments, along the second direction X2, the distance between the first axis L1 and the inner wall of the front side 103 of the head assembly 11 is greater than the distance between the first axis L1 and the inner wall of the rear side 104 of the head assembly 11. Such a setting makes the position of the first axis L1 closer to the position of the rotation axis of the human head relative to the neck, makes the postures of the head assembly 11 when lowering and raising the head more similar to those of humans, and when the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, along the second direction X2, the size of the middle part 1070 is greater than the size of the second gap 108, which can avoid the interference of the neck assembly 12 on the rotation of the head assembly 11 about the first axis L1.

[0120] Figure 15 The following is a schematic structural diagram of the front mask provided by an embodiment of the present application. In some embodiments, such as Figure 4 , Figure 5 , Figure 8 and Figure 15As shown, the head and neck assembly 10 further includes: one or more first devices 20. One or more first devices 20 are located in the first accommodation space 110 and are disposed on the inner wall of the front side 103 of the head assembly 11 adjacent to the neck assembly 12. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, along the second direction X2, the first gap 107 between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12 is greater than or equal to the second gap 108 between the inner wall of the rear side 104 of the head assembly 11 and the neck assembly 12. Exemplarily, when the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, along the second direction X2, the size of the middle portion 1070 is greater than the size of the second gap 108.

[0121] Since in the first accommodation space 110, devices such as the first device 20 are often disposed on the inner wall of the front side 103 of the head assembly 11 adjacent to the neck assembly 12, when the head assembly 11 rotates towards the neck assembly 12 about the first axis L1 (i.e., makes a lowering head movement), and the neck assembly 12 extends into the first accommodation space 110, it causes the neck assembly 12, for example, the outer edge of the neck assembly 12 extending into the first accommodation space 110, to easily touch the first device 20. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, along the second direction X2, the first gap 107 between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12 is greater than or equal to the second gap 108 between the inner wall of the rear side 104 of the head assembly 11 and the neck assembly 12, so that the gap between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12 can be larger, thereby reducing the risk of the neck assembly 12 touching the first device 20 and interfering with the rotation of the head assembly 11.

[0122] Exemplarily, the first device 20 can be a second vision sensor. The second vision sensor is used to obtain the depth information of the front side 103 of the head and neck assembly 10. Exemplarily, the second vision sensor can include a camera, a video camera or a webcam. For example, the second vision sensor can be a fish-eye camera or a depth camera.

[0123] Exemplarily, as Figure 5As shown in the figure, the front mask 112 has a groove 1120 recessed towards the first accommodation space 110. A second vision sensor is provided at the bottom of the groove 1120. The field of view angle of the second vision sensor is set towards the front side 103. The groove 1120 is provided with a gradually expanding side wall to adapt to the field of view angle of the second vision sensor. This avoids the front mask 112 blocking the field of view of the second vision sensor. For example, the side wall of the groove 1120 adopts a flared design. Since the groove 1120 is recessed towards the first accommodation space 110, the first gap 107 is greater than or equal to the second gap 108, and the gap between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12 can be relatively large, thereby reducing the risk of the neck assembly 12 hitting the head assembly 11 and enabling the head assembly 11 to rotate smoothly.

[0124] The head and neck assembly 10 provided in this embodiment further includes one or more first devices 20. The one or more first devices 20 are located in the first accommodation space 110 and are disposed on the inner wall of the front side 103 of the head assembly 11 adjacent to the neck assembly 12. When the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degree, along the second direction X2, the first gap 107 between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12 is greater than or equal to the second gap 108 between the inner wall of the rear side 104 of the head assembly 11 and the neck assembly 12, such that the gap between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12 can be relatively large, thereby reducing the risk of the neck assembly 12 hitting the first device 20 and interfering with the rotation of the head assembly 11, and enabling the head and neck assembly 10 to meet the functional requirements of more application scenarios.

[0125] In some embodiments, as Figures 1 to 5 shown, the head and neck assembly 10 is applied to the humanoid robot 1. The humanoid robot 1 further includes a torso assembly 30. The head and neck assembly 10 is disposed on the torso assembly 30. The head and neck assembly 10 further includes: a second driving assembly 21. The second driving assembly 21 can be disposed on the torso assembly 30 and is connected to the neck assembly 12. The second driving assembly 21 is used to drive the neck assembly 12 to rotate about the second axis L2, and the extending direction of the second axis L2 is parallel to the first direction X1.

[0126] Exemplarily, the second driving assembly 21 can include one or a combination of more than one of the following driving structures: a gear set, a sprocket chain, a lead screw guide rail, a power cylinder, a motor, and a crank slider. Exemplarily, the second driving assembly 21 can include a motor, such as a stepper motor or a servo motor. Optionally, the second driving assembly 21 is a joint module. The shape of the second driving assembly 21 can include a columnar shape.

[0127] The neck and head assembly 10 provided in this embodiment further includes a second driving component 21. The second driving component 21 can drive the neck component 12 to rotate around the second axis L2, and the extending direction of the second axis L2 is parallel to the first direction X1, so that the neck and head assembly 10 can also perform a head-turning action, expanding the application scenarios of the neck and head assembly 10. In addition, the second driving component 21 can be arranged on the torso component 30 and connected to the neck component 12, rather than being arranged in the second accommodation space 100 to achieve the head-turning action, so that the second accommodation space 100 can have enough space to accommodate various devices, optimizing the overall layout of the humanoid robot 1, making the structure of the humanoid robot 1 more compact, and when maintaining the second driving component 21, it is not necessary to disassemble the head component 11, making the second driving component 21 easier to maintain. At the same time, since the head component 11 and the neck component 12 rotate around the second axis L2 together, the head-turning action of the neck and head assembly 10 is more anthropomorphic, enhancing the affinity and user experience of the humanoid robot 1.

[0128] Figure 16 The figure shows a schematic structural diagram of a neck component, a torso component, and a second limited member provided in an embodiment of the present application. Figure 17 The figure shows a schematic structural diagram of a neck component provided in another embodiment of the present application.

[0129] In some embodiments, such as Figures 1 to 5 and Figure 16 and Figure 17 as shown, the second driving component 21 includes: a second rotation output part 210 and a second driving main body 211.

[0130] The rotation axis of the second rotation output part 210 is collinear with the second axis L2. The second rotation output part 210 is connected to the neck component 12 and is used to drive the neck component 12 to rotate around the second axis L2. The second driving main body 211 can be arranged on the torso component 30 and is connected to the second rotation output part 210. The second driving main body 211 is used to drive the second rotation output part 210 to rotate around the second axis L2.

[0131] The neck and head assembly 10 further includes a second limited member 22. The second limited member 22 is connected to the circumferential side surface of the second rotation output part 210 and can abut against the torso component 30 during rotation to limit the rotation angle of the second rotation output part 210.

[0132] Exemplarily, the second driving component 21 may include a motor, the second rotation output part 210 may be the mover of the motor, and the second driving body 211 may be the stator of the motor. This enables the mover of the motor to be directly connected to the neck component 12 without the need for additional components such as connecting rods, which helps simplify the structure of the head and neck component 10 and facilitates the calculation and control of the movement of the head component 11. Exemplarily, the second rotation output part 210 may be a rotary body, and the rotation center line of the second rotation output part 210 is the rotation axis of the second rotation output part 210.

[0133] Exemplarily, as Figure 5 and Figure 17 shown, the neck component 12 further includes a mounting base 122. The mounting base 122 is located on the side of the neck housing 120 facing the torso component 30 and is inside the neck housing 120, connected to the inner surface of the neck housing 120. The second rotation output part 210 is connected to the mounting base 122. The connection manner between the second rotation output part 210 and the mounting base 122 may be welding, riveting, clamping, screwing, or bonding.

[0134] Exemplarily, the neck housing 120 and the mounting base 122 may form an integral structure. The neck housing 120 and the mounting base 122 may also be connected and fixed by welding, riveting, clamping, screwing, etc., and no specific limitation is made in this embodiment.

[0135] Exemplarily, the second limited member 22 and the circumferential side surface of the second rotation output part 210 may be connected and fixed by welding, riveting, clamping, screwing, etc., and no specific limitation is made in this embodiment. Exemplarily, the torso component 30 may include two limiting members circumferentially spaced around the second axis L2. The second limited member 22 extends into the space between the two limiting members, and the second limited member 22 can abut against the limiting members during rotation to limit the rotation angle of the second rotation output part 210.

[0136] In the head and neck component 10 provided in this embodiment, the second driving component 21 includes the second rotation output part 210 and the second driving body 211. The second rotation output part 210 is directly connected to the neck component 12 and drives the neck component 12 to rotate around the second axis L2 without the need for components such as connecting rods, which helps simplify the structure of the head and neck component 10. In addition, the head and neck component 10 further includes the second limited member 22. The second limited member 22 is connected to the circumferential side surface of the second rotation output part 210 and can abut against the torso component 30 during rotation, so that the rotation angle of the second rotation output part 210 is limited, preventing the rotation angle of the neck component 12 around the second axis L2 from being too large due to factors such as abnormal operation of the second driving component 21 or external force on the head and neck component 10, which may damage the head and neck component 10.

[0137] In some embodiments, asFigures 1 to 5 and Figure 16 As shown in Figure 16 , the second rotation output part 210 is connected to the side of the neck assembly 12 away from the head assembly 11, and the second rotation output part 210 protrudes the second drive body 211 toward the neck assembly 12 along the extension direction of the second axis L2.

[0138] The torso assembly 30 includes a shoulder member 31. The shoulder member 31 includes a first shoulder 310, a middle part 311, and a second shoulder 312 that are sequentially connected. The middle part 311 has a through hole. The shoulder member 31 is disposed on the side of the second drive body 211 facing the neck assembly 12 and is connected to the end face of the second drive body 211 facing the neck assembly 12. The second rotation output part 210 passes through the through hole and is connected to the neck assembly 12.

[0139] The second limited member 22 includes: a third annular connection part 220 and a limited part 221. The third annular connection part 220 is sleeved on the second rotation output part 210. The limited part 221 is connected to the third annular connection part 220, and the limited part 221 can be located on one side of the shoulder member 31 to abut against the first shoulder 310 or the second shoulder 312 during rotation.

[0140] Since the shoulder member 31 includes a first shoulder 310, a middle part 311, and a second shoulder 312 that are sequentially connected, the second rotation output part 210 passes through the through hole of the middle part 311 and is connected to the neck assembly 12. The third annular connection part 220 is sleeved on the second rotation output part 210, and the limited part 221 is connected to the third annular connection part 220. The limited part 221 is located on one side of the shoulder member 31, so that the limited part 221 can abut against the first shoulder 310 or the second shoulder 312 when being driven by the second rotation output part 210 to rotate around the second axis L2. The rotation angle of the second rotation output part 210 is limited through the shoulder member 31, simplifying the structure of the humanoid robot 1.

[0141] Exemplarily, the limited part 221 can be located on the side of the shoulder member 31 facing the rear side 104. Exemplarily, during rotation, the surfaces of the first shoulder 310 and the second shoulder 312 facing the rear side 104 can abut against the limited part 221. Exemplarily, the rotation angle of the second rotation output part 210 can be limited by designing the dimensions of the first shoulder 310 and the second shoulder 312 along the second direction X2.

[0142] Exemplarily, along the circumferential direction of the second axis L2, both the side of the limited part 221 facing the first shoulder 310 and the side facing the second shoulder 312 are planes. When the limited part 221 abuts against the first shoulder 310, the surface of the limited part 221 facing the first shoulder 310 fits with the first shoulder 310. When the limited part 221 abuts against the second shoulder 312, the surface of the limited part 221 facing the second shoulder 312 fits with the second shoulder 312. Such a setting can increase the contact area when the first shoulder 310 and the second shoulder 312 abut against the limited part 221, thereby improving the bearing capacity and stability of the limiting structure formed by the first shoulder 310, the second shoulder 312 and the limited part 221, and enhancing the reliability and service life of the limiting structure.

[0143] Exemplarily, the range of the rotation angle of the limited part 221 can be greater than or equal to 80 degrees and less than or equal to 180 degrees. For example, the range of the rotation angle of the limited part 221 can be 90 degrees or 120 degrees.

[0144] Exemplarily, the shape of the orthographic projection of the limited part 221 on the plane formed by the second direction X2 and the third direction X3 can include a V shape. Exemplarily, the through hole in the middle part 311 can be a stepped hole, a tapered hole or a threaded hole. The shape of the through hole in the middle part 311 is not specifically limited in this embodiment.

[0145] Exemplarily, the third annular connecting part 220 can be located on the side of the shoulder part 31 facing the neck assembly 12. Exemplarily, the shape of the second driving body 211 can include a column shape, and the center line of the second driving body 211 can extend along the extending direction of the second axis L2. The cross-sectional shape of the central hole of the third annular connecting part 220 can include a circle.

[0146] In the head and neck assembly 10 provided in this embodiment, the shoulder part 31 includes a first shoulder 310, a middle part 311 and a second shoulder 312 connected in sequence. The second rotation output part 210 passes through the through hole in the middle part 311 and is connected to the neck assembly 12. The third annular connecting part 220 is sleeved on the second rotation output part 210, and the limited part 221 is connected to the third annular connecting part 220. The limited part 221 is located on one side of the shoulder part 31, so that when the limited part 221 is driven by the second rotation output part 210 to rotate around the second axis L2, it can abut against the first shoulder 310 or the second shoulder 312. The rotation angle of the second rotation output part 210 is limited through the shoulder part 31, simplifying the structure of the humanoid robot 1.

[0147] In addition, since the second rotation output part 210 is connected to the side of the neck assembly 12 away from the head assembly 11, the second rotation output part 210 protrudes the second driving body 211 towards the neck assembly 12 along the extending direction of the second axis L2, so that there is a space between the second driving body 211 and the neck assembly 12 along the extending direction of the second axis L2. Thus, the shoulder part 31 can be arranged on the side of the second driving body 211 facing the neck assembly 12 and connected to the end face of the second driving body 211 facing the neck assembly 12, so that the shoulder part 31 can be arranged closer to the neck assembly 12, making the simulation degree of the humanoid robot 1 higher, and enabling the limited part 221 to be adjacent to the shoulder part 31 and located on one side of the shoulder part 31. As a result, the positional relationship among the second driving assembly 21, the second limiting part 22, and the shoulder part 31 is closer, making the structure of the humanoid robot 1 more compact.

[0148] In some embodiments, as Figure 5 and Figure 16 shown, the head and neck assembly 10 has a front side 103 and a rear side 104 arranged opposite to each other. One side of the middle part 311 facing the limited part 221 has a first positioning hole 3110, and the extending direction of the central axis of the first positioning hole 3110 is parallel to the direction from the front side 103 to the rear side 104. The limited part 221 has a second positioning hole 2210. When the limited part 221 rotates to a preset position, the extending direction of the central axis of the second positioning hole 2210 can be collinear with the extending direction of the first positioning hole 3110.

[0149] Specifically, the extending direction of the central axis of the first positioning hole 3110 is parallel to the second direction X2. When the limited part 221 rotates to the preset position, the extending direction of the central axis of the second positioning hole 2210 can be collinear with the extending direction of the first positioning hole 3110, so that the preset position is determined, and thus the preset position is set as the zero position of the second driving assembly 21 or the initial position of the head assembly 11 rotating around the second axis L2. When the humanoid robot 1 is in a state of standing upright on both feet on a horizontal plane and the limited part 221 rotates to the preset position, the head assembly 11 can face directly forward.

[0150] Exemplarily, the first positioning hole 3110 can be a through hole or a blind hole. The second positioning hole 2210 is a through hole. Exemplarily, the aperture of the first positioning hole 3110 is equal to the aperture of the second positioning hole 2210, and the diameter of the rod-shaped part is equal to the aperture of the first positioning hole 3110. The rod-shaped part can be inserted into the first positioning hole 3110 after passing through the second positioning hole 2210, so that the extending direction of the central axis of the second positioning hole 2210 is collinear with the extending direction of the first positioning hole 3110 to determine the preset position.

[0151] Exemplarily, when the limited part 221 rotates to a preset position, the included angle between the limited part 221 and the first shoulder 310 can be 45 degrees, and the included angle between the limited part 221 and the second shoulder 312 can also be 45 degrees.

[0152] In the neck and head assembly 10 provided in this embodiment, one side of the middle part 311 facing the limited part 221 has a first positioning hole 3110. The extending direction of the central axis of the first positioning hole 3110 is parallel to the direction from the front side 103 to the rear side 104. The limited part 221 has a second positioning hole 2210. When the limited part 221 rotates to the preset position, the extending direction of the central axis of the second positioning hole 2210 can be collinear with the extending direction of the first positioning hole 3110, so that the preset position can be determined. Thus, the preset position can be set as the zero position of the second driving assembly 21 or the initial position of the head assembly 11 rotating around the second axis L2, improving the control accuracy of the rotation of the head assembly 11 around the second axis L2.

[0153] The embodiment of the present application also provides a humanoid robot 1. The humanoid robot 1 includes the neck and head assembly 10 mentioned in the above embodiment.

[0154] Since the humanoid robot 1 includes the neck and head assembly 10, the humanoid robot 1 has all the technical features and technical effects of the neck and head assembly 10, which will not be elaborated here.

[0155] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any way. Words such as "including", "comprising", "provided with", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The words "or" and "and" used here refer to "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used here refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0156] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0157] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Thus, the present application is not intended to be limited to the aspects shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0158] The above description has been presented for purposes of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although numerous example aspects and embodiments have been discussed above, those skilled in the art will recognize some variations, modifications, alterations, additions, and subcombinations thereof.

Claims

1. A head and neck assembly, characterized in that, Comprising: A head component, the head component having a first accommodation space and an opening, the first accommodation space being able to communicate with the outside through the opening; A neck component, located on one side of the head component facing the first direction, the opening facing the neck component, the neck component extending into the first accommodation space through the opening and enclosing a second accommodation space with the head component; A first driving component, arranged on the neck component, located in the second accommodation space and connected to the head component, the first driving component being used to drive the head component to rotate relative to the neck component about a first axis, the extending direction of the first axis being perpendicular to the first direction; Wherein, when the rotation angle of the head component relative to the neck component about the first axis is 0 degrees, there is a gap between the edge of the neck component and the edge of the opening.

2. The head and neck assembly according to claim 1, wherein The neck component includes: A neck housing, the neck housing being located on one side of the head component facing the first direction, the side of the neck housing facing the head component having an extension portion, the extension portion being annular, the extension portion extending in the opposite direction of the first direction and extending into the first accommodation space through the opening, the neck housing and the head component enclosing the second accommodation space, when the rotation angle of the head component relative to the neck component about the first axis is 0 degrees, there is the gap between the outer surface of the extension portion and the edge of the opening; A mounting bracket, located in the second accommodation space and connected to the inner surface of the neck housing, the first driving component being arranged on the mounting bracket.

3. The head and neck assembly according to claim 1, wherein, The first driving component includes: A first rotation output portion, the rotation axis of the first rotation output portion being collinear with the first axis, the first rotation output portion being connected to the head component and used to drive the head component to rotate about the first axis; A first driving main body, arranged on the neck component, located in the second accommodation space and connected to the first rotation output portion, used to drive the first rotation output portion to rotate about the first axis.

4. The head and neck assembly according to claim 3, wherein The head and neck component further includes: A first limiting member, located in the second accommodation space, arranged on the first driving main body and located in the circumferential direction of the first axis; A second limiting member, located in the second accommodation space, arranged on the first driving main body and spaced from the first limiting member along the circumferential direction of the first axis; A first limited member, arranged on the inner wall of the head component, located in the circumferential direction of the first axis and extending into the space between the first limiting member and the second limiting member.

5. The neck and head assembly according to claim 4, wherein, The first rotation output portion protrudes from the first driving main body towards the first limited member along the extending direction of the first axis; The head and neck component further includes: a first support member, the first support member is arranged on the neck assembly and is located in the second accommodating space, the first support member comprises a first annular connecting portion and a neck connecting portion connected to each other, the first annular connecting portion is arranged on the side of the first driving body facing the first limited member, and is connected to the end surface of the first driving body facing the first limited member, the first rotation output portion passes through the center hole of the first annular connecting portion and is connected to the inner wall of the head assembly, and the neck connecting portion is connected to the neck assembly; Wherein, the first limiting member and the second limiting member are connected to the circumferential side surface of the first annular connecting portion.

6. The head and neck assembly according to claim 5, characterized in that, Also includes: A second support member, located in the second accommodation space, is disposed on the neck assembly and is located on a side of the first support member away from the first limited member; A rotatable connector is located in the second accommodating space, one side of the rotatable connector is rotatably connected to the second supporting member around the first axis, and the other side of the rotatable connector is connected to the inner wall of the head assembly opposite to the first limited member along the extension direction of the first axis.

7. The head and neck assembly according to any one of claims 1 to 6, characterized in that, The head and neck assembly has a left side and a right side, and the left side and the right side are arranged opposite to each other along the extension direction of the first axis; The head and neck assembly has a front side and a rear side, the front side and the rear side are arranged opposite to each other along a second direction, and the second direction is perpendicular to the first direction and the extension direction of the first axis; When the rotation angle of the head component about the first axis relative to the neck component is 0 degrees, the inner wall of the front side of the head component and the neck component have a first gap, and the inner wall of the rear side of the head component and the neck component have a second gap, and the first gap and the second gap are used to allow the head component to rotate between a first position and a second position about the first axis.

8. The head and neck assembly according to claim 7, characterized in that: The head and neck assembly has a left side and a right side, the left side and the right side are arranged opposite to each other along a third direction, and the third direction is perpendicular to both the first direction and the second direction; When the rotation angle of the head component around the first axis relative to the neck component is 0 degrees, along the third direction, the first gap has a middle part and narrowed parts located on both sides of the middle part, and along the second direction, the size of the middle part is larger than the size of the narrowed part.

9. The head and neck assembly according to claim 8, wherein, When the rotation angle of the head component around the first axis relative to the neck component is 0 degrees, the size of the second gap is equal along the extension direction of the edge of the rear side perpendicular to the neck component, and along the second direction, the size of the middle part is larger than the size of the second gap.

10. The head and neck assembly according to claim 9, characterized in that, Along the second direction, a distance between the first axis and an inner wall of the front side of the head component is greater than a distance between the first axis and an inner wall of the rear side of the head component.

11. The head and neck assembly according to any one of claims 1 to 6, characterized in that, Applied to a humanoid robot, the humanoid robot further comprises a trunk component, and the head and neck component is arranged on the trunk component; The head and neck assembly further comprises: A second driving component, which can be arranged on the torso component and is connected to the neck component, is used to drive the neck component to rotate around a second axis, and the extending direction of the second axis is parallel to the first direction.

12. The head and neck assembly according to claim 11, wherein, The second driving component includes: A second rotation output part, the rotation axis of the second rotation output part is collinear with the second axis, the second rotation output part is connected to the neck component, and is used to drive the neck component to rotate around the second axis; A second driving main body, which can be arranged on the torso component and is connected to the second rotation output part, is used to drive the second rotation output part to rotate around the second axis; The head and neck component further includes: A second limited part, which is connected to the circumferential side surface of the second rotation output part and can be abutted against the torso component during rotation to limit the rotation angle of the second rotation output part.

13. The head and neck assembly according to claim 12, wherein, The second rotation output part is connected to the side of the neck component away from the head component, and the second rotation output part protrudes from the second driving main body towards the neck component along the extending direction of the second axis; The torso component includes a shoulder part, the shoulder part includes a first shoulder, a middle part and a second shoulder which are connected in sequence, the middle part has a through hole, the shoulder part is arranged on the side of the second driving main body facing the neck component and is connected to the end surface of the second driving main body facing the neck component, and the second rotation output part passes through the through hole and is connected to the neck component; The second limited part includes: A second annular connection part, which is sleeved on the second rotation output part; A limited part, which is connected to the second annular connection part, and the limited part can be located on one side of the shoulder part to be abutted against the first shoulder or the second shoulder during rotation.

14. The head and neck assembly according to claim 13, wherein, The head and neck component has a front side and a rear side arranged opposite to each other; One side of the middle part facing the limited part has a first positioning hole, and the extending direction of the central axis of the first positioning hole is parallel to the direction from the front side to the rear side; The limited part has a second positioning hole, and when the limited part rotates to a preset position, the extending direction of the central axis of the second positioning hole can be collinear with the extending direction of the first positioning hole.

15. A humanoid robot, characterized in that, It includes: The head and neck component according to any one of claims 1 to 14.

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