Head and neck assembly and humanoid robot

Abstract

The present application relates to the field of robotics, and in particular to a head and neck assembly and a humanoid robot, in order to solve the problem that the simulation degree of the head and neck assembly is poor, which affects the appearance of the humanoid robot. In the head and neck assembly, the head assembly has a first accommodating space and an opening, the neck assembly is located on the 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 accommodating space from the opening, thereby making the transition at the junction of the head assembly and the neck assembly more coherent and natural, and increasing the simulation degree of the head and neck assembly. In addition, 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, which provides a clearance for the rotation of the head assembly relative to the neck assembly around the first axis, so that the head assembly can rotate smoothly relative to the neck assembly around the first axis.

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 robotics technology has made significant progress, frequently appearing in various professional competitions, scientific research, and potential application scenarios. Humanoid robots have gradually moved from the laboratory into a wider range of practical applications, with their intelligence and mobility continuously improving. They are playing a vital role in various fields, including home services, medical care, and industrial production.

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

[0004] In view of this, an embodiment of the present application provides 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 enclosed with the head assembly to form a second accommodating space; 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, and the extension direction of the first axis is perpendicular to the first direction; wherein, 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 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, the extension portion 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, and the first drive assembly is arranged on the mounting bracket.

[0007] In some implementations, the first drive assembly 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 assembly, and is used to drive the head assembly to rotate around the first axis; a first driving body, arranged in the neck assembly, located in the second accommodating space, 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 from 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 connection portion and a neck connection portion that are connected to each other, the first annular connection 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 connection portion and is connected to the inner wall of the head assembly, and the neck connection 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 connection 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 some 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 the 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 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 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 assembly around the first axis relative to the neck assembly 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.

[0013] In some embodiments, when the rotation angle of the head component about 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 perpendicular to the rear side of the neck component, and along the second direction, the size of the middle part is larger than the size of the second gap.

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

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

[0016] In some implementations, the second drive assembly includes: a second rotation output part, the rotation axis of the second rotation output part is colinear with the second axis, the second rotation output part is connected to the neck assembly, and is used to drive the neck assembly to rotate around the second axis; a second driving body, which can be set in the torso assembly, connected to the second rotation output part, and is used to drive the second rotation output part to rotate around the second axis; the head and neck assembly also includes: a second limited member, which is connected to the circumferential side of the second rotation output part, and can abut against the torso assembly during rotation to limit the rotation angle of the second rotation output part.

[0017] In some implementations, the second rotation output portion is connected to a side of the neck assembly away from the head assembly, and the second rotation output portion protrudes a second driving body toward the neck assembly along the extension direction of the second axis; the torso assembly includes a shoulder component, the shoulder component includes a first shoulder, a middle portion, and a second shoulder connected in sequence, the middle portion has a through hole, the shoulder component is arranged on a side of the second driving body facing the neck assembly, and is connected to the end face of the second driving body facing the neck assembly, and the second rotation output portion is connected to the neck assembly through the through hole; the second limited member includes: a second annular connecting portion, which is sleeved on the second rotation output portion; a limited portion, which is connected to the second annular connecting portion, and the limited portion can be located on one side of the shoulder component 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 arranged in back to back; the middle portion has a first positioning hole on one side facing the limited portion, and the extension direction of the central axis of the first positioning hole is parallel to the direction toward the rear side from the front side; the limited portion has a second positioning hole, and when the limited portion is rotated to a preset position, the extension direction of the central axis of the second positioning hole can be colinear with the extension direction of the first positioning hole.

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

[0020] The head and neck assembly provided in this embodiment has a head assembly having a first accommodating space and an opening, the first accommodating space can be connected to the outside world through the opening, and the neck assembly is located on the side of the head assembly facing the first direction, with the opening facing the neck assembly, so that the neck assembly can extend into the first accommodating 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 of the humanoid robot, improving user acceptance, identification and user experience, and expanding the application of humanoid robots in some scenarios with high simulation requirements, such as film and television production, theme park interaction, etc.

[0021] In addition, the first drive component drives the head component to rotate relative to the neck component around the first axis, and the neck component and the head component enclose a second accommodating space, so that the first drive component can be located in the second accommodating space and supported by the neck component, so that the first drive component can drive the head component to rotate around the first axis while not being directly exposed to the outside world, and when the humanoid robot is in a state of standing upright on a horizontal plane with both feet, it is difficult for the user to see the second accommodating space when looking in the horizontal direction, making the appearance of the head and neck component more coherent and natural, further increasing the degree of simulation of the head and neck component.

[0022] At the same time, when the rotation angle of the head component around the first axis relative to the neck component is 0 degrees, there is a gap between the edge of the neck component and the edge of the opening, which provides a clearance for the rotation of the head component around the first axis relative to the neck component, so that the head component can rotate smoothly around the first axis relative to the neck component, and makes the channel connecting the second accommodating space with the outside world smaller, making the second accommodating space more difficult to be seen by the user, and the heat in the second accommodating space can be released to the outside through the gap, which is convenient for heat dissipation of the head and neck component. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended 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 of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0024] Figure 1 Shown is a schematic structural diagram of a head and neck assembly and a torso assembly provided in one embodiment of the present application.

[0025] Figure 2 The following is an example of an embodiment of the present application. Figure 1 Front view of the head and neck assembly and torso assembly shown.

[0026] Figure 3 The following is an example of an embodiment of the present application. Figure 1 Right side view of the head and neck assembly and torso assembly shown.

[0027] Figure 4 The following is an example of an embodiment of the present application. Figure 3 Schematic cross-sectional view of the middle head and neck assembly along line AA.

[0028] Figure 5 The following is an example of an embodiment of the present application. Figure 2 Schematic cross-sectional view of the head and neck assembly and the torso assembly along line BB.

[0029] Figure 6 Shown is a schematic structural diagram of a humanoid robot provided in one embodiment of the present application.

[0030] Figure 7 Shown is a schematic structural diagram of a neck assembly provided in one embodiment of the present application.

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

[0032] Figure 9 Shown is a schematic structural diagram of a head and neck assembly provided by an embodiment of the present application with the front mask removed.

[0033] Figure 10 Shown is a schematic structural diagram of a head and neck assembly provided by another embodiment of the present application with the front mask removed.

[0034] Figure 11 Shown is a schematic structural diagram of a head and neck assembly provided by yet another embodiment of the present application with the front mask removed.

[0035] Figure 12Shown is a schematic structural diagram of a left mask provided in one embodiment of the present application.

[0036] Figure 13 Shown is a schematic structural diagram of a first driving assembly, a first limiting member, and a second limiting member provided in one embodiment of the present application.

[0037] 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.

[0038] Figure 15 Shown is a schematic structural diagram of a front mask provided in one embodiment of the present application.

[0039] Figure 16 Shown is a schematic structural diagram of a neck assembly, a torso assembly, and a second limited member provided in one embodiment of the present application.

[0040] Figure 17 Shown is a schematic structural diagram of a neck assembly provided in another embodiment of the present application.

[0041] Reference numerals:

[0042] 1. Humanoid robot; 10. Head and neck assembly; 100. Second storage space; 101. Upper side; 102. Lower side; 103. Front side; 104. Back 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 storage 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, neck main housing; 121, mounting bracket; 122, mounting base; 13, first drive assembly; 130, first rotation output unit; 131, first drive body; 14, first stopper; 15, second stopper; 16. First limited member; 17. First supporting member; 170. First annular connecting portion; 171. Neck connecting portion; 18. Second supporting member; 180. Second annular connecting portion; 181. Support connecting portion; 19. Rotating connecting member; 190. Head connecting portion; 191. Connecting shaft; 20. First device; 21. Second driving assembly; 210. Second rotating output portion; 211. Second driving body; 22. Second limited member; 220. Third annular connecting portion; 221. Limited portion; 2210. Second positioning hole; 23. First visual sensor; 24. Display screen; 30. Torso assembly; 31. Shoulder member; 310. First shoulder; 311. Middle portion; 3110. First positioning hole; 312. Second shoulder; L1. First axis; L2. Second axis; L3. Normal; X1. First direction; X2. Second direction; X3. Third direction. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0044] In recent years, humanoid robotics technology has made significant progress, frequently appearing in various professional competitions, scientific research, and potential application scenarios. Humanoid robots have gradually moved from the laboratory into a wider range of practical applications, with their intelligence and mobility continuously improving. They are playing a vital role in various fields, including home services, medical care, and industrial production.

[0045] As an important part of a humanoid robot, the head and neck assembly is usually composed of an interconnected head structure and a neck structure. The head structure can rotate relative to the neck structure to perform nodding, tilting the head back, or shaking the head left and right. However, the existing head and neck assemblies have a poor degree of simulation. For example, the driving structure that drives the head structure to rotate relative to the neck structure is exposed and cannot be directly seen by the user. Or the connection and transition between the head structure and the neck structure are unreasonable, resulting in an inconsistent appearance of the head and neck structure, making it difficult to give people a natural and realistic feeling. This seriously affects the appearance of the humanoid robot, resulting in low user acceptance and recognition, poor user experience, and limiting the application of humanoid robots in some scenarios with high simulation requirements, such as film and television production, theme park interaction, etc.

[0046] In response to the above problems, 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 enclosed with the head assembly to form a second accommodating space; a first drive assembly, arranged in the neck assembly, located in the second accommodating space, and connected to the head assembly, the first drive assembly being used to drive the head assembly to rotate relative to the neck assembly around a first axis, and the extension direction of the first axis is perpendicular to the first direction; wherein, 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 edge of the neck assembly and the edge of the opening.

[0047] The head and neck assembly provided in the embodiment of the present application has a head assembly having a first accommodating space and an opening, the first accommodating space can be connected to the outside world through the opening, and the neck assembly is located on the side of the head assembly facing the first direction, with the opening facing the neck assembly, so that the neck assembly can extend into the first accommodating 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 of the humanoid robot, improving user acceptance, identification and user experience, and expanding the application of humanoid robots in some scenarios with high simulation requirements, such as film and television production, theme park interaction, etc.

[0048] In addition, the first drive component drives the head component to rotate relative to the neck component around the first axis, and the neck component and the head component enclose a second accommodating space, so that the first drive component can be located in the second accommodating space and supported by the neck component, so that the first drive component can drive the head component to rotate around the first axis while not being directly exposed to the outside world, and when the humanoid robot is in a state of standing upright on a horizontal plane with both feet, it is difficult for the user to see the second accommodating space when looking in the horizontal direction, making the appearance of the head and neck component more coherent and natural, further increasing the degree of simulation of the head and neck component.

[0049] At the same time, when the rotation angle of the head component around the first axis relative to the neck component is 0 degrees, there is a gap between the edge of the neck component and the edge of the opening, which provides a clearance for the rotation of the head component around the first axis relative to the neck component, so that the head component can rotate smoothly around the first axis relative to the neck component, and makes the channel connecting the second accommodating space with the outside world smaller, making the second accommodating space more difficult to be seen by the user, and the heat in the second accommodating space can be released to the outside through the gap, which is convenient for heat dissipation of the head and neck component.

[0050] The specific structures of the head and neck assembly and the humanoid robot are described below with reference to the accompanying drawings and specific embodiments.

[0051] Figure 1 Shown is a schematic structural diagram of a head and neck assembly and a torso assembly provided in one embodiment of the present application. Figure 2 The following is an example of an embodiment of the present application. Figure 1 Front view of the head and neck assembly and torso assembly shown. Figure 3 The following is an example of an embodiment of the present application. Figure 1 Right side view of the head and neck assembly and torso assembly shown. Figure 4 The following is an example of an embodiment of the present application. Figure 3 Schematic cross-sectional view of the middle head and neck assembly along line AA. Figure 5 The following is an example of an embodiment of the present application. Figure 2 Schematic cross-sectional view of the head and neck assembly and the torso assembly along line BB. Figure 6 Shown is a schematic structural diagram of a humanoid robot provided in one embodiment of the present application. Figure 7 Shown is a schematic structural diagram of a neck assembly provided in one embodiment of the present application. Figure 8 Shown is a schematic structural diagram of the head and neck assembly and the torso assembly provided by one embodiment of the present application after removing the front mask. Figure 9 Shown is a schematic structural diagram of a head and neck assembly provided by an embodiment of the present application with the front mask removed. Figure 10 Shown is a schematic structural diagram of a head and neck assembly provided by another embodiment of the present application with the front mask removed. Figure 11 Shown is a schematic structural diagram of a head and neck assembly provided by yet another embodiment of the present application with the front mask removed.

[0052] like Figures 1 to 11 As shown, the head and neck assembly 10 includes a head assembly 11 , a neck assembly 12 and a first driving assembly 13 .

[0053] For example, the head and neck assembly 10 can be applied to a humanoid robot 1. The humanoid robot 1 can include the head and neck assembly 10 and a torso assembly 30. The head and neck assembly 10 is connected to the torso assembly 30. The appearance of the head and neck assembly 10 and the torso assembly 30 can both be set to simulate a humanoid shape. For example, the appearance of the head assembly 11 can be set to simulate the shape of a human head, the appearance of the neck assembly 12 can be set to simulate the shape of a human neck, and the appearance of the torso assembly 30 can be set to simulate the shape of a human torso.

[0054] The head assembly 11 has a first receiving space 110 and an opening 111. The first receiving space 110 is connected to the outside world through the opening 111. The neck assembly 12 is located on the side of the head assembly 11 facing the first direction X1, with the opening 111 facing the neck assembly 12. The neck assembly 12 extends into the first receiving space 110 through the opening 111 and encloses the second receiving space 100 with the head assembly 11.

[0055] Exemplarily, the head and neck assembly 10 may have an upper side 101 and a lower side 102 that are arranged in back to back. The first direction X1 is from the upper side 101 to the lower side 102. The first direction X1 may 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 assembly 12 facing the upper side 101 extends into the first accommodating space 110 through the opening 111. The first accommodating space 110 accommodates the side of the neck assembly 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 method between the head and neck assembly 10 and the torso assembly 30 may be snap connection, screw connection, bonding, magnetic connection, etc., which is not specifically limited in this embodiment.

[0056] For example, the head and neck assembly 10 may have a front side 103 and a rear side 104, and the front side 103 and the rear side 104 may be arranged opposite to each other along a second direction X2. The second direction X2 may also be the front-to-back direction of the humanoid robot 1. For example, 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 opposite to each other along a third direction X3. The third direction X3 may also be the left-right direction of the humanoid robot 1.

[0057] Specifically, the neck component 12 extends into the first accommodation space 110 through the opening 111 , and can cover at least a portion of the opening 111 communicating with the outside, thereby forming the second accommodation space 100 .

[0058] The first drive assembly 13 is disposed on the neck assembly 12, located in the second accommodation space 100, and connected to the head assembly 11. The first drive assembly 13 is used to drive the head assembly 11 to rotate about the first axis L1 relative to the neck assembly 12. The first axis L1 extends perpendicular to the first direction X1.

[0059] Specifically, the neck assembly 12 provides support for the first drive 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 drive assembly 13, thereby preventing the first drive assembly 13 from being directly exposed to the outside world. When the humanoid robot 1 is standing upright on a horizontal surface with both feet, the first drive assembly 13 is difficult for a user to see horizontally.

[0060] Illustratively, the first drive assembly 13 may include one or more of the following drive structures: a gear set, a sprocket chain, a lead screw guide, a power cylinder, a motor, and a crank slider. Illustratively, the first drive assembly 13 may include a motor, such as a stepper motor or a servo motor. Optionally, the first drive assembly 13 may be a joint module. The shape of the first drive assembly 13 may include a columnar shape.

[0061] For example, the first axis L1 may extend in a direction parallel to the second direction X2. The first drive assembly 13 may be used to drive the head assembly 11 to swing left and right. For example, the first axis L1 may extend in a direction parallel to the third direction X3. The first drive assembly 13 may be used to drive the head assembly 11 to pitch, that is, to raise or lower the head.

[0062] When the rotation angle of the head component 11 relative to the neck component 12 around the first axis L1 is 0 degrees, there is a gap between the edge of the neck component 12 and the edge of the opening 111 .

[0063] When the rotation angle of the head component 11 around the first axis L1 relative to the neck component 12 is 0 degrees, the head component 11 can be in a neutral position in human anatomy. Figure 3 and Figure 9 As shown, the extension direction of the first axis L1 can be parallel to the third direction X3. When the head assembly 11 rotates clockwise around the first axis L1 from the neutral position, the head assembly 11 performs a head-up action. When the head assembly 11 rotates counterclockwise around the first axis L1 from the neutral position, the head assembly 11 performs a head-down action.

[0064] Because the head assembly 11 can rotate relative to the neck assembly 12 about the first axis L1, the edge of the opening 111 may be displaced 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, a gap exists between the edge of the neck assembly 12 and the edge of the opening 111. This provides clearance for the head assembly 11 to rotate relative to the neck assembly 12 about the first axis L1, thereby allowing the head assembly 11 to rotate smoothly relative to the neck assembly 12 about the first axis L1. For example, the neck assembly 12 has a centerline extending along the first direction X1, and the edges of the neck assembly 12 may be distributed circumferentially around the centerline.

[0065] Exemplarily, when the rotation angle of the head component 11 relative to the neck component 12 around the first axis L1 is 0 degrees, there is a gap between the neck component 12 and the edge of the opening 111 along the second direction X2 and the third direction X3.

[0066] Illustratively, the head assembly 11 may include a front mask 112, a rear mask 113, a left mask 114, and a right mask 115. The front mask 112, the left mask 114, the rear mask 113, and the right mask 115 are smoothly connected in sequence around the circumference of the first direction X1, enclosing the first accommodating space 110 and the edge of the opening 111. The front mask 112 is positioned toward the front side 103, the left mask 114 is positioned toward the left side 105, the rear mask 113 is positioned toward the rear side 104, and the right mask 115 is positioned toward the right side 106. Illustratively, the front mask 112, the left mask 114, the rear mask 113, and the right mask 115 are detachably connected.

[0067] Exemplarily, the head and neck assembly 10 also includes one or more second devices. The second device can be arranged at the middle of the front side 103 of the head assembly 11 or the inner wall toward the upper side 101, and the second device can also be arranged at the inner wall of the rear side 104 of the head assembly 11. Exemplarily, the second device can be a first visual sensor 23. The first visual sensor 23 can be arranged at the side of the front mask 112 toward the upper side 101, for obtaining object information of the front side 103 of the head and neck assembly 10. The first visual sensor 23 can also be arranged at the rear mask 113, for obtaining object information of the rear side 104 of the head and neck assembly 10. Exemplarily, the first visual sensor 23 can include a camera, a video camera or a camera. For example, the first visual sensor 23 can be a fisheye camera.

[0068] For example, the second component can be a display screen 24. The display screen 24 is provided on the inner wall of the middle portion of the front side 103 of the head assembly 11 and is used to display information. For example, the display screen 24 can be used to display expressions or text.

[0069] The head and neck assembly 10 provided in this embodiment has a head assembly 11 having a first accommodating space 110 and an opening 111. The first accommodating space 110 can be connected to the outside through the opening 111. The neck assembly 12 is located on the side of the head assembly 11 facing the first direction X1, and the opening 111 faces the neck assembly 12, so that the neck assembly 12 can extend into the first accommodating space 110 through the opening 111, thereby making the transition at the junction of the head assembly 11 and the neck assembly 12 more coherent and natural, increasing the simulation degree of the head and neck assembly 10, improving the appearance of the humanoid robot 1, improving user acceptance, identification and user experience, and expanding the application of the humanoid robot 1 in some scenarios with high simulation requirements, such as film and television production, theme park interaction, etc.

[0070] In addition, the first drive component 13 drives the head component 11 to rotate relative to the neck component 12 around the first axis L1, and the neck component 12 and the head component 11 enclose a second accommodating space 100, so that the first drive component 13 can be located in the second accommodating space 100 and supported by the neck component 12, so that the first drive component 13 can drive the head component 11 to rotate around the first axis L1 while not being directly exposed to the outside world, and when the humanoid robot 1 is in a state of standing upright on a horizontal plane with both feet, it is difficult for the user to see the second accommodating space 100 in the horizontal direction, making the appearance of the head and neck component 10 more coherent and natural, further increasing the degree of simulation of the head and neck component 10.

[0071] At the same time, when the rotation angle of the head component 11 around the first axis L1 relative to the neck component 12 is 0 degrees, there is a gap between the edge of the neck component 12 and the edge of the opening 111, which provides a clearance for the rotation of the head component 11 around the first axis L1 relative to the neck component 12, so that the head component 11 can rotate smoothly around the first axis L1 relative to the neck component 12, and makes the channel connecting the second accommodating space 100 with the outside world smaller, making the second accommodating space 100 more difficult to be seen by the user, and the heat in the second accommodating space 100 can be released to the outside through the gap, which is convenient for heat dissipation of the head and neck component 10.

[0072] In some embodiments, as Figure 4 、 Figure 5 and Figure 7 As shown, the neck assembly 12 includes a neck shell 120 and a mounting bracket 121. The neck shell 120 is located on the side of the head assembly 11 facing the first direction X1. The neck shell 120 has an extension portion 1200 on the side facing the head assembly 11. The extension portion 1200 is annular and extends in the opposite direction of the first direction X1 and extends into the first accommodating space 110 through the opening 111. The neck shell 120 and the head assembly 11 enclose a second accommodating space 100. When the rotation angle of the head assembly 11 about the first axis L1 relative to the neck assembly 12 is 0 degrees, there is a gap between the outer surface of the extension portion 1200 and the edge of the opening 111.

[0073] The extension portion 1200 extends into the first accommodating space 110 from the opening 111. The extension portion 1200 is annular. When the rotation angle of the head component 11 around the first axis L1 relative to the neck component 12 is 0 degrees, there is a gap between the outer surface of the extension portion 1200 and the edge of the opening 111, so that the outer shape of the neck shell 120 except the extension portion 1200 can be set to imitate the shape of a human neck.

[0074] For example, the neck shell 120 includes a neck main shell 1201 and an extension 1200. The extension 1200 is provided on the side of the neck main shell 1201 facing the head assembly 11. For example, the shape of the neck main shell 1201 can be set to imitate the shape of a human neck. Figure 3 and Figure 5 As shown, along the first direction X1, the portion of the extension 1200 facing the rear side 104 and the portion facing the front side 103 are arranged sequentially. This arrangement allows the shape of the neck main housing 1201 to more closely resemble the shape of a human neck. For example, when the first direction X1 is vertical, the portion of the extension 1200 facing the front side 103 is lower than the portion of the extension 1200 facing the rear side 104.

[0075] For example, the edge of the opening 111 is annular. The junction of the extension 1200 and the neck main shell 1201 is also annular. When the rotation angle of the head component 11 relative to the neck component 12 around the first axis L1 is 0 degrees, the plane formed by the edge of the opening 111 is parallel to the plane formed by the junction of the extension 1200 and the neck main shell 1201. For example, Figure 5 As shown, the direction of the normal L3 of the plane formed at the junction of the extension portion 1200 and the neck main shell 1201 is toward the lower side 102, and the normal L3 forms an angle with the first direction X1, which can be greater than 15 degrees and less than or equal to 25 degrees. For example, the angle can be equal to 20 degrees.

[0076] For example, along the first direction X1, the size of the extension portion 1200 toward the front side 103 can be greater than or equal to the size of the extension portion 1200 toward the rear side 104. Since the tilt angle of the head assembly 11 is generally greater than or equal to the tilt angle of the head assembly 11, this arrangement can more easily prevent the components in the second accommodating space 100 from being exposed when the head assembly 11 can be tilted up and down.

[0077] For example, the neck shell 120 can be a one-piece structure, that is, the neck shell 120 is a one-piece structure produced by an integrated molding process. The integrated molding process can be stamping, casting, etc., which is not specifically limited in this embodiment. The neck shell 120 can also be a split structure, and the neck main shell 1201 and the extension portion 1200 can be connected and fixed by welding, riveting, clamping, screwing, etc., which is not specifically limited in this embodiment.

[0078] The mounting bracket 121 is located in the second accommodating space 100 and is connected to the inner surface of the neck shell 120. The first drive assembly 13 is disposed on the mounting bracket 121. For example, the mounting bracket 121 may include multiple mounting members. One or more of the multiple mounting members may form an integrated structure with the neck shell 120.

[0079] The head and neck assembly 10 provided in this embodiment includes a neck assembly 12 including a hollow structure such as a neck shell 120 and a mounting bracket 121, which makes the neck assembly 12 lighter and facilitates the arrangement and accommodation of the circuits in the head and neck assembly 10. In addition, since the extension portion 1200 extends from the opening 111 into the first accommodation space 110, the extension portion 1200 is annular. When the rotation angle of the head assembly 11 around the first axis L1 relative to the neck assembly 12 is degrees, there is a gap between the outer surface of the extension portion 1200 and the edge of the opening 111, so that the outer shape of the neck shell 120 other than the extension portion 1200 does not need to avoid the head assembly 11, but is set to a shape that simulates a human neck, further improving the simulation degree of the head and neck assembly 10 and enhancing the appearance of the humanoid robot 1.

[0080] 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 accommodating space 110, reduce the impact of the extension portion 1200 on the movement of the head assembly 11, and facilitate the arrangement of various devices in the second accommodating space 100.

[0081] Figure 12 Shown is a schematic structural diagram of a left mask provided in one embodiment of the present application.

[0082] In some embodiments, as Figure 5 as well as Figures 9 to 12 As shown, the first drive assembly 13 includes a first rotation output unit 130 and a first drive body 131. The rotation axis of the first rotation output unit 130 is collinear with the first axis L1. The first rotation output unit 130 is connected to the head assembly 11 and is configured to drive the head assembly 11 to rotate about the first axis L1. The first drive body 131 is disposed in the neck assembly 12, within the second accommodating space 100, and is connected to the first rotation output unit 130 to drive the first rotation output unit 130 to rotate about the first axis L1.

[0083] For example, the first drive assembly 13 may include a motor, the first rotation output portion 130 may be the motor's mover, and the first drive body 131 may be the motor's stator. This allows the motor's mover to be directly connected to the head assembly 11 without requiring additional components such as a connecting rod, thereby simplifying the structure of the head and neck assembly 10 and facilitating the calculation and control of the movement of the head assembly 11.

[0084] Illustratively, the orthographic projection of the first rotation output unit 130 along the extension direction of the first axis L1 onto the inner wall of the side connected to the head assembly 11 is not obstructed by the neck assembly 12. Illustratively, the first rotation output unit 130 may be a rotating body, with the centerline of rotation of the first rotation output unit 130 serving as the rotation axis of the first rotation output unit 130. Illustratively, the first rotation output unit 130 may be connected to the inner wall of the left mask 114 or the right mask 115. Illustratively, the left mask 114 may be provided with a connection hole, through which the first rotation output unit 130 is screwed to the left mask 114.

[0085] For example, the first axis L1 is located in the coronal plane (a professional term in human anatomy) of the humanoid robot 1. This arrangement is conducive to simplifying the calculation and control of the movement of the head component 11.

[0086] The head and neck assembly 10 provided in this embodiment, the first driving assembly 13 includes a first rotation output part 130 and a first driving body 131. The first rotation output part 130 is directly connected to the head assembly 11, and drives the head assembly 11 to rotate around the first axis L1. The first driving body 131 is arranged in the neck assembly 12, located in the second accommodating space 100, and is connected to the first rotation output part 130, and is used to drive the first rotation output part 130 to rotate around the first axis L1. The structure of the first driving assembly 13 is simple, and the head assembly 11 is directly driven to rotate through the first rotation output part 130, and no longer through components such as connecting rods, which is conducive to simplifying the structure of the head and neck assembly 10.

[0087] Figure 13 Shown is a schematic structural diagram of a first driving assembly, a first limiting member, and a second limiting member provided in one embodiment of the present application.

[0088] In some embodiments, as Figures 9 to 13 As shown, the head and neck 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 accommodating space 100, is disposed on the first driving body 131, and is located circumferentially of the first axis L1. The second limiting member 15 is located in the second accommodating space 100, is disposed on the first driving 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, is located circumferentially of the first axis L1, and extends into the gap between the first limiting member 14 and the second limiting member 15.

[0089] For example, the first rotation output portion 130 can be connected to the inner wall of the left mask 114, and the first restricted member 16 can be provided on the inner wall of the left mask 114. For example, the first rotation output portion 130 can be connected to the inner wall of the right mask 115, and the first restricted member 16 can be provided on the inner wall of the right mask 115.

[0090] For example, along the circumferential direction 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 both the side of the first limited member 16 facing the first limiting member 14 and the side facing the second limiting member 15 are planes. When the first limited member 16 abuts the first limiting member 14, the plane of the first limited member 16 facing the first limiting member 14 aligns with the plane of the first limiting member 14 facing the first limited member 16. When the first limited member 16 abuts the second limiting member 15, the plane of the first limited member 16 facing the second limiting member 15 aligns with the plane of the second limiting member 15 facing the first limited member 16. This arrangement can increase the area when the first limiting member 14 and the second limiting member 15 abut against the first limited member 16, thereby improving the bearing capacity and stability of the limiting structure formed by the first limiting member 14, the second limiting member 15 and the first limited member 16, and improving the reliability and service life of the limiting structure.

[0091] The head and neck assembly 10 provided in this embodiment also includes a limiting structure formed by a first limiting member 14, a second limiting member 15 and a first limited member 16. The first limiting member 14 and the second limiting member 15 are located in the second accommodating space 100, are arranged on the first driving body 131, and are located in the circumference of the first axis L1. The second limiting member 15 is spaced apart from the first limiting member 14 along the circumference of the first axis L1. The first limited member 16 is arranged on the inner wall of the head assembly 11, is located in the circumference of the first axis L1, and extends into the gap 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, to prevent the head assembly 11 from rotating too much around the first axis L1 due to abnormalities in the first driving assembly 13 or external forces on the head and neck assembly 10, thereby damaging the head assembly 11. In addition, the limiting structure has a simple structure, which is conducive to simplifying the structure of the head and neck assembly 10 and reducing the weight of the head and neck assembly 10.

[0092] In some embodiments, as Figures 9 to 13 As shown, the first rotation output portion 130 protrudes a first driving body 131 along the extension direction of the first axis L1 toward the first restricted member 16 . The head and neck assembly 10 further includes a first support member 17 . The first support member 17 is disposed on the neck assembly 12 and located in the second accommodation space 100 .

[0093] The first support member 17 includes a first annular connecting portion 170 and a neck connecting portion 171 that are interconnected. The first annular connecting portion 170 is disposed on the side of the first driving body 131 that faces the first restricted member 16 and is connected to the end surface of the first driving body 131 that faces the first restricted member 16. The first rotation output portion 130 passes through the center hole of the first annular connecting portion 170 and is connected to the inner wall of the head assembly 11. The neck connecting portion 171 is connected to the neck assembly 12. The first and second restricting members 14 and 15 are connected to the circumferential side surfaces of the first annular connecting portion 170.

[0094] Since the first rotation output part 130 protrudes the first driving body 131 toward the first limited part 16 along the extension direction of the first axis L1, the end face of the first driving body 131 facing the first limited part 16 is spaced from the inner wall of the head assembly 11, so that the first annular connection part 170 can be arranged on the side of the first driving body 131 facing the first limited part 16 and connected to the end face of the first driving body 131 facing the first limited part 16. The first rotation output part 130 can pass through the center hole of the first annular connection part 170 and be connected to the inner wall of the head assembly 11 without interfering with the first annular connection part 170.

[0095] Illustratively, the first driving body 131 has a cylindrical shape, with its centerline extending along the direction of the first axis L1. The cross-sectional shape of the center hole of the first annular connecting portion 170 is circular. Illustratively, the first annular connecting portion 170 can be screwed, clamped, or bonded to the end surface of the first driving body 131 facing the first restricted member 16.

[0096] Exemplarily, the first support member 17 can be an integrated structure, that is, the first support member 17 is an integrated structure made by an integrated molding process, and the integrated molding process can be specifically stamping, casting, etc., which is not specifically limited in this embodiment. The first support member 17 can also be a split structure, and the first annular connecting portion 170 and the neck connecting portion 171 can be connected and fixed by welding, riveting, clamping, screwing, etc., which is not specifically limited in this embodiment. Exemplarily, the first limit member 14 and the second limit member 15 and the first support member 17 can form an integrated structure. This arrangement is conducive to reducing the number of parts of the head and neck assembly 10 and improving assembly efficiency.

[0097] The head and neck assembly 10 provided in this embodiment has the first rotation output part 130 protruding the first driving body 131 toward the first limited part 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 part 16 is spaced from the inner wall of the head assembly 11, so that the first annular connection part 170 can be arranged on the side of the first driving body 131 facing the first limited part 16 and connected to the end face of the first driving body 131 facing the first limited part 16. The first rotation output part 130 can pass through the center hole of the first annular connection part 170 and be connected to the inner wall of the head assembly 11 without interfering with the first annular connection part 170. The neck connection part 171 is connected to the neck assembly 12, thereby realizing the support of the first support part 17 for the first driving assembly 13.

[0098] In addition, since the first limiting member 14 and the second limiting member 15 are connected to the circumferential side surface of the first annular connecting 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 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, so that along the extension direction of the first axis L1, the first limiting member 14 and the second limiting 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 limiting member 14, the second limiting 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.

[0099] 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.

[0100] In some embodiments, as Figure 9 、 Figure 11 and Figure 14 As shown, the head and neck assembly 10 further includes a second support member 18 and a rotatable connector 19. The second support member 18 is located in the second accommodating space 100, disposed within the neck assembly 12, and is positioned on the side of the first support member 17 facing away from the first restricted member 16. The rotatable connector 19 is located in the second accommodating space 100, with one side of the rotatable connector 19 rotatably connected to the second support member 18 about the first axis L1, and the other side of the rotatable connector 19 is connected to the inner wall of the head assembly 11 opposite the first restricted member 16 along the extension direction of the first axis L1.

[0101] Since the first drive component 13 is only connected to one side of the inner wall of the head component 11 along the extension direction of the first axis L1, the head component 11 is prone to vibration when rotating. The rotating connection 19 is connected to the inner wall of the head component 11 opposite to the first limited component 16 along the extension direction of the first axis L1, so that the second support member 18 and the rotating connection member 19 can support the other side of the inner wall of the head component 11, thereby improving the stability of the head component 11 during rotation and improving the life of the first support member 17 and the connection between the first drive component 13 and the head component 11.

[0102] Exemplarily, the second support member 18 includes a second annular connection portion 180 and a support connection portion 181 that are interconnected. The support connection portion 181 is connected to the inner surface of the neck assembly 12. The rotating connection member 19 includes a head connection portion 190 and a connecting shaft portion 191 that are interconnected. The connecting shaft portion 191 is located on the side of the head connection portion 190 facing the first limited member 16. The connecting shaft portion 191 is passed through the center hole of the second annular connection portion 180 and is rotatably connected to the second annular connection portion 180 through a bearing. The head connection portion 190 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. Exemplarily, the head connection portion 190 is screwed, clamped or bonded 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.

[0103] For example, the other side of the rotating connection member 19 may be screwed, clamped or bonded to the inner wall of the head assembly 11 opposite to the first restricted member 16 along the extending direction of the first axis L1 .

[0104] Exemplarily, the first limited member 16 can be set on the inner wall of the left mask 114 , the first driving assembly 13 is connected to the inner wall of the left mask 114 , and the head connecting part 190 is connected to the inner wall of the right mask 115 .

[0105] The head and neck assembly 10 provided in this embodiment also 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. 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 support member 18 and the rotating connecting member 19 to support both sides of the inner wall of the head assembly 11, 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 support member 17 and the connection between the first driving assembly 13 and the head assembly 11.

[0106] In some embodiments, the head and neck assembly 10 has a left side 105 and a right side 106, which are arranged opposite to each other along the extension direction of the first axis L1. This arrangement allows the first drive assembly 13 to drive the head assembly 11 to raise and lower the head, thereby meeting the movement requirements of the head and neck assembly 10 in most application scenarios.

[0107] For example, along the circumference of the first axis L1, the side of the first limiting member 14 facing the first limited member 16 can be a plane, the side of the second limiting member 15 facing the first limited member 16 can 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 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 can be 40 degrees. For example, the head-up angle of the head assembly 11 can be 25 degrees, and the head-down angle of the head assembly 11 can be 15 degrees.

[0108] In some embodiments, as 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 opposite each other along a second direction X2. The second direction X2 is perpendicular to both the first direction X1 and the extension direction of the first axis L1. When the head assembly 11 rotates about the first axis L1 relative to the neck assembly 12 at a zero-degree angle, a first gap 107 is formed between the inner wall of the front side 103 of the head assembly 11 and the neck assembly 12, and a second gap 108 is formed 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.

[0109] Since the left side 105 and the right side 106 are arranged opposite to each other along the extension direction of the first axis L1, the first drive component 13 can drive the head component 11 to raise and lower the head. By setting the first gap 107 and the second gap 108, the neck component 12 can avoid the raising and lowering movements of the head component 11, allowing the head component 11 to rotate smoothly between the first position and the second position around the first axis L1.

[0110] For example, the first position may be the position of the head assembly 11 when it is raised and rotated about the first axis L1 to the maximum angle of the head-up position. For example, the first position may be the position of the head assembly 11 when it is raised 25 degrees. For example, the second position may be the position of the head assembly 11 when it is lowered and rotated about the first axis L1 to the maximum angle of the head-down position. For example, the second position may be the position of the head assembly 11 when it is lowered 15 degrees.

[0111] Exemplarily, when the head component 11 is in the first position or the second position, the edge of the neck component 12 may abut against the edge of the opening 111 , or may not contact the edge of the opening 111 but have a gap therebetween.

[0112] 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 opposite each other along a 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 degrees, along the third direction X3, the first gap 107 includes a middle portion 1070 and narrowed portions 1071 located on either side of the middle portion 1070. Along the second direction X2, the size of the middle portion 1070 is larger than the size of the narrowed portions 1071.

[0113] Since along the direction perpendicular to the first axis L1, the distance between the edge of the head component 11 corresponding to the middle part 1070 and the first axis L1 is usually greater than the distance between the edge of the head component 11 corresponding to the narrowed part 1071 and the first axis L1, that is, around the first axis L1, the rotation radius of the edge of the head component 11 corresponding to the middle part 1070 is usually greater than the rotation radius of the edge of the head component 11 corresponding to the narrowed part 1071. By setting the size of the middle part 1070 along the second direction X2 to be larger than the size of the narrowed part 1071, it is possible to further avoid interference between the neck component 12 and the rotation of the head component 11 around the first axis L1, and the overall size of the first gap 107 can be set smaller, and the inner wall of the front side 103 of the head component 11 is closer to the neck component 12, thereby avoiding exposure of components in the second accommodating space 100.

[0114] Illustratively, the two narrowed portions 1071 are symmetrically distributed on both sides of the middle portion 1070. Illustratively, as the size of the narrowed portions 1071 along the third direction X3 gradually decreases in a direction away from the middle portion 1070.

[0115] 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 degrees, the size of the second gap 108 is equal along the extension direction of the edge perpendicular to the rear side 104 of the neck component 12, and along the second direction X2, the size of the middle portion 1070 is larger than the size of the second gap 108.

[0116] Since the connection between the human neck and the back of the head is typically arc-shaped, the dimensions of the second gap 108 are equal along the direction perpendicular to the edge of the rear side 104 of the neck assembly 12. This allows the edge of the neck assembly 12 and the opening 111 corresponding to the second gap 108 to be configured as an arc, making the shape of the neck assembly 12 more closely resemble the shape of the human neck. Furthermore, along the second direction X2, the dimensions of the middle portion 1070 are larger than the dimensions of the second gap 108. This prevents the neck assembly 12 from interfering with the rotation of the head assembly 11 about the first axis L1, while allowing the overall dimensions of the second gap 108 to be smaller, bringing the inner wall of the rear side 104 of the head assembly 11 closer to the neck assembly 12 and preventing the components in the second accommodating space 100 from being exposed.

[0117] Exemplarily, the orthographic projection of the second gap 108 along the plane formed by the second direction X2 and the third direction X3 comprises a ring segment. Along the extension direction of the ring segment, the width of the ring segment is equal.

[0118] Exemplarily, the inner wall of the left side 105 of the head assembly 11 has a third gap 109 with the neck assembly 12, and the inner wall of the right side 106 of the head assembly 11 has a fourth gap 1090 with the neck assembly 12. Of the inner walls of the head assembly 11 facing the neck assembly 12, the inner wall of the front side 103 of the head assembly 11, the inner wall of the rear side 104 of the head assembly 11, the inner wall of the left side 105 of the head assembly 11, and the inner wall of the right side 106 of the head assembly 11 form 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 degrees, the gaps between the edge of the neck assembly 12 and the edge of the opening 111 include the first gap 107, the third gap 109, the second gap 108, and the fourth gap 1090, which are connected in sequence.

[0119] Exemplarily, when the rotation angle of the head assembly 11 relative to the neck assembly 12 about the first axis L1 is 0 degrees, the third gap 109, the second gap 108, and the fourth gap 1090 are all equal in size along a direction perpendicular to the edge of the neck assembly 12. Exemplarily, the orthographic projection of the third gap 109, the second gap 108, and the fourth gap 1090 on a plane formed by the second direction X2 and the third direction X3 comprises a ring segment. The ring segment has a uniform width along its extension direction.

[0120] 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. This arrangement makes the position of the first axis L1 closer to the position of the rotation axis of the human head relative to the neck, making the posture of the head assembly 11 when lowering and raising the head more similar to that of a human. In addition, when the rotation angle of the head assembly 11 about the first axis L1 relative to the neck assembly 12 is 0 degrees, the size of the middle portion 1070 along the second direction X2 is greater than the size of the second gap 108, thereby preventing the neck assembly 12 from interfering with the rotation of the head assembly 11 about the first axis L1.

[0121] Figure 15 The figure shows a schematic diagram of the structure of the front mask provided by an embodiment of the present application. Figure 4 、 Figure 5 、 Figure 8 and Figure 15As shown, the head and neck assembly 10 further includes: one or more first components 20. The one or more first components 20 are located in the first accommodating 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 around the first axis L1 is 0 degrees, along the second direction X2, a 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 a 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 around 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.

[0122] Because the inner wall of the front side 103 of the head assembly 11 adjacent to the neck assembly 12 in the first accommodating space 110 is often provided with a device, such as the first device 20, when the head assembly 11 rotates about the first axis L1 toward the neck assembly 12 (that is, when the head assembly 11 is lowered), and the neck assembly 12 extends into the first accommodating space 110, the neck assembly 12, for example, when the neck assembly 12 extends into the outer edge of the first accommodating space 110, is likely to collide with the first device 20. When the rotation angle of the head assembly 11 about the first axis L1 relative to the neck assembly 12 is 0 degrees, along the second direction X2, a 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 a 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 colliding with the first device 20 and interfering with the rotation of the head assembly 11.

[0123] Exemplarily, the first device 20 may be a second visual sensor. The second visual sensor is used to obtain depth information of the front side 103 of the head and neck assembly 10. Exemplarily, the second visual sensor may include a camera, a video camera, or a camera. For example, the second visual sensor may be a fisheye camera or a depth camera.

[0124] For example, Figure 5As shown, the front mask 112 has a groove 1120 that is recessed toward the first accommodating space 110. A second visual sensor is provided at the bottom of the groove 1120. The field of view of the second visual sensor is set toward the front side 103. The groove 1120 is provided with a gradually expanding side wall to adapt to the field of view of the second visual sensor. This prevents the front mask 112 from blocking the field of view of the second visual sensor. For example, the side wall of the groove 1120 adopts a trumpet-shaped design. Since the groove 1120 is recessed toward the first accommodating 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 larger, thereby reducing the risk of the neck assembly 12 hitting the head assembly 11 and allowing the head assembly 11 to rotate smoothly.

[0125] The head and neck assembly 10 provided in this embodiment also includes one or more first devices 20, which are located in the first accommodating space 110 and are arranged 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 around 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 colliding with the first device 20 and interfering with the rotation of the head assembly 11, so that the head and neck assembly 10 can meet the functional requirements of more application scenarios.

[0126] In some embodiments, as Figures 1 to 5 As shown, the head and neck assembly 10 is applied to a humanoid robot 1. The humanoid robot 1 also includes a torso assembly 30. The head and neck assembly 10 is disposed on the torso assembly 30. The head and neck assembly 10 also includes: a second drive assembly 21. The second drive assembly 21 can be disposed on the torso assembly 30 and connected to the neck assembly 12. The second drive assembly 21 is used to drive the neck assembly 12 to rotate about a second axis L2, and the extension direction of the second axis L2 is parallel to the first direction X1.

[0127] Exemplarily, the second drive assembly 21 may include one or more of the following drive structures: a gear set, a sprocket chain, a lead screw guide, a power cylinder, a motor, and a crank slider. Exemplarily, the second drive assembly 21 may include a motor, such as a stepper motor or a servo motor. Optionally, the second drive assembly 21 is a joint module. The shape of the second drive assembly 21 may include a columnar shape.

[0128] The head and neck assembly 10 provided in this embodiment also includes a second drive assembly 21. The second drive assembly 21 can drive the neck assembly 12 to rotate around the second axis L2. The extension direction of the second axis L2 is parallel to the first direction X1, so that the head and neck assembly 10 can also realize the head turning action, which expands the application scenario of the head and neck assembly 10. In addition, the second drive assembly 21 can be set in the torso assembly 30 and connected to the neck assembly 12, rather than being set in the second accommodating space 100 to realize the head turning action, so that the second accommodating space 100 can have enough space to accommodate various devices, optimize the overall layout of the humanoid robot 1, make the structure of the humanoid robot 1 more compact, and do not need to disassemble the head assembly 11 when maintaining the second drive assembly 21, making the second drive assembly 21 easier to maintain. At the same time, because the head assembly 11 and the neck assembly 12 rotate together around the second axis L2, the head turning action of the head and neck assembly 10 is more humanized, improving the affinity and user experience of the humanoid robot 1.

[0129] Figure 16 Shown is a schematic structural diagram of a neck assembly, a torso assembly, and a second limited member provided in one embodiment of the present application. Figure 17 Shown is a schematic structural diagram of a neck assembly provided in another embodiment of the present application.

[0130] In some embodiments, as Figures 1 to 5 as well as Figure 16 and Figure 17 As shown, the second driving assembly 21 includes: a second rotation output portion 210 and a second driving body 211 .

[0131] The rotation axis of the second rotation output unit 210 is collinear with the second axis L2. The second rotation output unit 210 is connected to the neck assembly 12 and is configured to drive the neck assembly 12 to rotate about the second axis L2. A second driving body 211 can be disposed on the torso assembly 30 and connected to the second rotation output unit 210. The second driving body 211 is configured to drive the second rotation output unit 210 to rotate about the second axis L2.

[0132] The head and neck 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 portion 210 and can abut against the trunk assembly 30 during rotation to limit the rotation angle of the second rotation output portion 210 .

[0133] Exemplarily, the second drive assembly 21 may include a motor, the second rotation output portion 210 may be a mover of the motor, and the second drive body 211 may be a stator of the motor. This allows the mover of the motor to be directly connected to the neck assembly 12 without requiring additional components such as a connecting rod, which helps simplify the structure of the head and neck assembly 10 and facilitates the calculation and control of the movement of the head assembly 11. Exemplarily, the second rotation output portion 210 may be a rotating body, and the centerline of rotation of the second rotation output portion 210 is the rotation axis of the second rotation output portion 210.

[0134] For example, Figure 5 and Figure 17 As shown, the neck assembly 12 further includes a mounting base 122. The mounting base 122 is located on the side of the neck housing 120 facing the torso assembly 30, is located inside the neck housing 120, and is connected to the inner surface of the neck housing 120. The second rotation output portion 210 is connected to the mounting base 122. The connection between the second rotation output portion 210 and the mounting base 122 can be welding, riveting, clamping, screwing, or bonding.

[0135] For example, the neck shell 120 can form an integrated structure with the mounting base 122. The neck shell 120 and the mounting base 122 can also be connected and fixed by welding, riveting, clamping, screwing, etc., which is not specifically limited in this embodiment.

[0136] Illustratively, the second restricted member 22 can be connected and fixed to the circumferential side surface of the second rotation output portion 210 by welding, riveting, clamping, screwing, or other methods, which are not specifically limited in this embodiment. Illustratively, the trunk assembly 30 can include two restricting members spaced circumferentially about the second axis L2, with the second restricted member 22 extending into the space between the two restricting members. During rotation, the second restricted member 22 can abut against the restricting members to limit the rotation angle of the second rotation output portion 210.

[0137] The head and neck assembly 10 provided in this embodiment includes a second drive assembly 21 comprising a second rotation output portion 210 and a second drive body 211. The second rotation output portion 210 is directly connected to the neck assembly 12 and drives the neck assembly 12 to rotate around the second axis L2 without having to go through components such as connecting rods, which is beneficial for simplifying the structure of the head and neck assembly 10. In addition, the head and neck assembly 10 also includes a second limited member 22, which is connected to the circumferential side of the second rotation output portion 210 and can abut against the torso assembly 30 during rotation, so that the rotation angle of the second rotation output portion 210 is limited, thereby preventing the neck assembly 12 from rotating too much around the second axis L2 due to abnormalities in the second drive assembly 21 or external forces on the head and neck assembly 10, thereby preventing damage to the head and neck assembly 10.

[0138] In some embodiments, as Figures 1 to 5 as well as Figure 16 As shown, the second rotation output portion 210 is connected to the side of the neck component 12 away from the head component 11 , and the second rotation output portion 210 protrudes a second driving body 211 toward the neck component 12 along the extension direction of the second axis L2 .

[0139] The trunk assembly 30 includes a shoulder member 31, which comprises a first shoulder portion 310, a middle portion 311, and a second shoulder portion 312, which are connected in sequence. The middle portion 311 has a through hole. The shoulder member 31 is disposed on the side of the second driving body 211 facing the neck assembly 12 and is connected to the end surface of the second driving body 211 facing the neck assembly 12. The second rotation output portion 210 is connected to the neck assembly 12 through the through hole.

[0140] The second restricted member 22 includes a third annular connecting portion 220 and a restricted portion 221. The third annular connecting portion 220 is sleeved on the second rotation output portion 210. The restricted portion 221 is connected to the third annular connecting portion 220 and 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.

[0141] Since the shoulder component 31 includes a first shoulder 310, a middle portion 311 and a second shoulder 312 connected in sequence, the second rotation output portion 210 is connected to the neck component 12 through the through hole of the middle portion 311, and the third annular connection portion 220 is sleeved on the second rotation output portion 210. The limited portion 221 is connected to the third annular connection portion 220. The limited portion 221 is located on one side of the shoulder component 31, so that the limited portion 221 can abut against the first shoulder 310 or the second shoulder 312 when it is driven by the second rotation output portion 210 to rotate around the second axis L2. The rotation angle of the second rotation output portion 210 is limited by the shoulder component 31, which simplifies the structure of the humanoid robot 1.

[0142] Illustratively, the restricted portion 221 can be located on the side of the shoulder member 31 facing the rear side 104. Illustratively, during the rotation process, the surfaces of the first shoulder 310 and the second shoulder 312 facing the rear side 104 can abut against the restricted portion 221. Illustratively, the rotation angle of the second rotation output portion 210 can be limited by designing the dimensions of the first shoulder 310 and the second shoulder 312 along the second direction X2.

[0143] For example, along the circumference of the second axis L2, the side of the limited portion 221 facing the first shoulder 310 and the side facing the second shoulder 312 are both surfaces. When the limited portion 221 abuts against the first shoulder 310, the surface of the limited portion 221 facing the first shoulder 310 is in contact with the first shoulder 310. When the limited portion 221 abuts against the second shoulder 312, the surface of the limited portion 221 facing the second shoulder 312 is in contact with the second shoulder 312. This arrangement can increase the area of ​​the first shoulder 310 and the second shoulder 312 when they abut against the limited portion 221, thereby improving the load-bearing capacity and stability of the limiting structure formed by the first shoulder 310, the second shoulder 312 and the limited portion 221, and improving the reliability and service life of the limiting structure.

[0144] For example, the range of the rotation angle of the limited portion 221 may 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 portion 221 may be 90 degrees or 120 degrees.

[0145] For example, the orthographic projection of the limited portion 221 on the plane formed by the second direction X2 and the third direction X3 may be V-shaped. For example, the through hole of the middle portion 311 may be a stepped hole, a tapered hole, or a threaded hole. The shape of the through hole of the middle portion 311 is not specifically limited in this embodiment.

[0146] For example, the third annular connection portion 220 may be located on a side of the shoulder member 31 facing the neck assembly 12. For example, the second driving body 211 may be cylindrical in shape, and the centerline of the second driving body 211 may extend along the extension direction of the second axis L2. The cross-sectional shape of the center hole of the third annular connection portion 220 may be circular.

[0147] The head and neck assembly 10 provided in this embodiment has a shoulder component 31 including a first shoulder 310, a middle portion 311 and a second shoulder 312 connected in sequence. The second rotation output portion 210 is connected to the neck component 12 through the through hole of the middle portion 311. The third annular connection portion 220 is sleeved on the second rotation output portion 210. The limited portion 221 is connected to the third annular connection portion 220. The limited portion 221 is located on one side of the shoulder component 31, so that the limited portion 221 can abut against the first shoulder 310 or the second shoulder 312 when it is driven by the second rotation output portion 210 to rotate around the second axis L2. The rotation angle of the second rotation output portion 210 is limited by the shoulder component 31, which simplifies the structure of the humanoid robot 1.

[0148] In addition, since the second rotation output part 210 is connected to the side of the neck component 12 away from the head component 11, the second rotation output part 210 protrudes the second driving body 211 toward the neck component 12 along the extension direction of the second axis L2, so that there is space between the second driving body 211 and the neck component 12 along the extension direction of the second axis L2, so that the shoulder component 31 can be set on the side of the second driving body 211 facing the neck component 12 and connected to the end face of the second driving body 211 facing the neck component 12, so that the shoulder component 31 can be set closer to the neck component 12, so that the simulation degree of the humanoid robot 1 is higher, and the limited part 221 can be adjacent to the shoulder component 31 and located on one side of the shoulder component 31, so that the positional relationship between the second driving component 21, the second limited part 22 and the shoulder component 31 is closer, making the structure of the humanoid robot 1 more compact.

[0149] In some embodiments, as Figure 5 and Figure 16 As shown, the head and neck assembly 10 has a front side 103 and a rear side 104 disposed opposite to each other. A first positioning hole 3110 is defined on the side of the middle portion 311 facing the constrained portion 221. The central axis of the first positioning hole 3110 extends parallel to the direction from the front side 103 toward the rear side 104. The constrained portion 221 has a second positioning hole 2210. When the constrained portion 221 is rotated to a predetermined position, the central axis of the second positioning hole 2210 extends collinearly with the direction of extension of the first positioning hole 3110.

[0150] Specifically, the central axis of the first positioning hole 3110 extends in a direction parallel to the second direction X2. When the limited portion 221 is rotated to the preset position, the central axis of the second positioning hole 2210 extends in a direction collinear with the direction of extension of the first positioning hole 3110, thereby confirming the preset position and setting the preset position as the zero position of the second drive assembly 21, or the initial position for the rotation of the head assembly 11 about the second axis L2. When the humanoid robot 1 is standing upright on a horizontal surface with both feet and the limited portion 221 rotated to the preset position, the head assembly 11 can face straight ahead.

[0151] Illustratively, the first positioning hole 3110 can be a through hole or a blind hole. The second positioning hole 2210 is a through hole. Illustratively, the diameter of the first positioning hole 3110 is equal to the diameter of the second positioning hole 2210, and the diameter of the rod-shaped member is equal to the diameter of the first positioning hole 3110. The rod-shaped member can be inserted through the second positioning hole 2210 and then into the first positioning hole 3110, so that the extension direction of the central axis of the second positioning hole 2210 is collinear with the extension direction of the first positioning hole 3110, thereby determining the preset position.

[0152] For example, when the restricted portion 221 rotates to the preset position, the angle between the restricted portion 221 and the first shoulder 310 may be 45 degrees, and the angle between the restricted portion 221 and the second shoulder 312 may also be 45 degrees.

[0153] The head and neck assembly 10 provided in this embodiment has a first positioning hole 3110 on the side of the middle part 311 facing the limited part 221, and the extension direction of the central axis of the first positioning hole 3110 is parallel to the direction of the front side 103 toward the rear side 104. The limited part 221 has a second positioning hole 2210. When the limited part 221 is rotated to the preset position, the extension direction of the central axis of the second positioning hole 2210 can be colinear with the extension direction of the first positioning hole 3110, so that the preset position can be determined, so that the preset position can be set as the zero point position of the second drive assembly 21, or the initial position of the head assembly 11 rotating around the second axis L2, thereby improving the control accuracy of the rotation of the head assembly 11 around the second axis L2.

[0154] The embodiment of the present application further provides a humanoid robot 1. The humanoid robot 1 includes the head and neck assembly 10 mentioned in the above embodiment.

[0155] Since the humanoid robot 1 includes the head and neck assembly 10 , the humanoid robot 1 has all the technical features and technical effects of the head and neck assembly 10 , which will not be described in detail here.

[0156] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0157] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0158] 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. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0159] The above description has been provided for the purpose of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although a number of example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A head and neck assembly, characterized in that: include: 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 through the opening; a neck component, located on a side of the head component facing the first direction, with 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 drive assembly, disposed on the neck assembly, located in the second accommodation space, and connected to the head assembly, the first drive assembly being configured to drive the head assembly to rotate relative to the neck assembly about a first axis, wherein an extension direction of the first axis is perpendicular to the first direction; Wherein, when the rotation angle of the head component about the first axis relative to the neck component is 0 degrees, there is a gap between the edge of the neck component and the edge of the opening; 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; 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, the inner wall of the front side of the head component and the neck component have a first gap, 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.

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

3. The head and neck assembly according to claim 1, wherein: The first drive assembly comprises: a first rotation output portion, wherein a rotation axis of the first rotation output portion is collinear with the first axis, and the first rotation output portion is connected to the head assembly and is configured to drive the head assembly to rotate about the first axis; The first driving body is provided in the neck assembly, is located in the second accommodation space, is connected to the first rotation output part, and is used for driving the first rotation output part to rotate around the first axis.

4. The head and neck assembly according to claim 3, wherein: The head and neck assembly further comprises: a first limiting member, located in the second accommodation space, provided on the first driving body, and located in the circumferential direction of the first axis; a second limiting member, located in the second accommodation space, provided on the first driving body, and spaced apart from the first limiting member along the circumferential direction of the first axis; The first limited member is arranged on the inner wall of the head assembly, is located in the circumferential direction of the first axis, and extends into the gap between the first limiting member and the second limiting member.

5. The head and neck assembly according to claim 4, wherein: The first rotation output portion protrudes from the first driving body toward the first restricted member along the extending direction of the first axis; The head and neck assembly further comprises: a first support member, the first support member being arranged on the neck assembly and located in the second accommodating space, the first support member comprising a first annular connecting portion and a neck connecting portion connected to each other, the first annular connecting portion being arranged on a side of the first driving body facing the first restricted member and connected to an end surface of the first driving body facing the first restricted member, the first rotation output portion passing through a center hole of the first annular connecting portion and connected to an inner wall of the head assembly, and the neck connecting portion being 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, wherein: Also includes: a second supporting member, located in the second accommodating space, provided on the neck assembly, and located on a side of the first supporting member away from the first limited member; A rotating connecting member is located in the second accommodating space, one side of the rotating connecting member is rotatably connected to the second supporting 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.

7. The head and neck assembly according to any one of claims 1 to 6, characterized in that: The left side and the right side are arranged opposite to each other along the extension direction of the first axis; when the rotation angle of the head assembly around the first axis relative to the neck assembly is 0 degrees, the inner wall of the rear side of the head assembly and the neck assembly have a second gap, 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.

8. The head and neck assembly according to claim 7, 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.

9. The head and neck assembly according to claim 8, wherein: Along the second direction, a distance between the first axis and an inner wall of the front side of the head assembly is greater than a distance between the first axis and an inner wall of the rear side of the head assembly.

10. 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 torso component, the head and neck component being arranged on the torso component; The head and neck assembly further comprises: A second driving assembly can be provided on the trunk assembly and connected to the neck assembly for driving the neck assembly to rotate around a second axis, wherein an extension direction of the second axis is parallel to the first direction.

11. The head and neck assembly according to claim 10, wherein: The second drive assembly includes: a second rotation output portion, wherein the rotation axis of the second rotation output portion is collinear with the second axis, and the second rotation output portion is connected to the neck assembly and is configured to drive the neck assembly to rotate about the second axis; a second driving body, which can be disposed on the trunk assembly and connected to the second rotation output portion, and is used to drive the second rotation output portion to rotate around the second axis; The head and neck assembly further comprises: The second limited member is connected to the circumferential side surface of the second rotation output part and can abut against the trunk component during the rotation process to limit the rotation angle of the second rotation output part.

12. The head and neck assembly according to claim 11, wherein: The second rotation output portion is connected to a side of the neck component away from the head component, and the second rotation output portion protrudes the second driving body toward the neck component along an extension direction of the second axis; The torso assembly includes a shoulder component, the shoulder component including a first shoulder portion, a middle portion, and a second shoulder portion connected in sequence, the middle portion having a through hole, the shoulder component being disposed on a side of the second driving body facing the neck assembly and connected to an end surface of the second driving body facing the neck assembly, the second rotation output portion passing through the through hole and connected to the neck assembly; The second limited member includes: a second annular connecting portion, sleeved on the second rotation output portion; The restricted portion is connected to the second annular connecting portion, and the restricted portion can be located on one side of the shoulder component to abut against the first shoulder or the second shoulder during the rotation process.

13. The head and neck assembly according to claim 12, wherein: The head and neck assembly has a front side and a rear side disposed opposite to each other; A first positioning hole is provided on a side of the middle portion facing the restricted portion, and an extension direction of a central axis of the first positioning hole is parallel to a direction from the front side toward the rear side; The restricted portion has a second positioning hole. When the restricted portion is rotated to a preset position, an extension direction of a central axis of the second positioning hole can be collinear with an extension direction of the first positioning hole.

14. A humanoid robot, characterized in that: include: The head and neck assembly according to any one of claims 1 to 13.

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