Head assembly and robot

Abstract

A head assembly and a robot relate to the field of robot motion control. The head assembly comprises a bearing part, a first connecting rod and a head body, and the first end of the first connecting rod is rotationally connected with the bearing part; the head body comprises a head support, a first motor and a connecting piece. The head support is rotationally connected with the bearing piece. The first motor is fixedly connected with the head bracket; the connecting piece is fixedly connected with the driving end of the first motor and rotationally connected with the second end of the first connecting rod. The driving end of the first motor and the second end of the first connecting rod are connected to different positions of the connecting piece, and the head support and the second end of the first connecting rod are rotationally connected to different positions of the bearing piece. According to the head assembly and the robot, mechanical interference between the head and the neck structure during large-angle motion can be avoided while the neck space can be released, the maximum motion angle of the head nodding motion is increased, and therefore the sensing range and the motion expressive force of the robot are increased.

Description

Technical Field

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

[0002] At present, the nodding movement of the robot head is usually driven by a drive structure (such as a motor, servo or pneumatic actuator) installed in the neck area. However, this traditional structure of setting the drive structure on the neck has several limitations. First, setting the drive structure on the neck will take up valuable neck space, limit the layout freedom of other functional modules (such as communication modules, sensors, wiring channels, etc.), and is not conducive to achieving compact and lightweight design. Secondly, due to the certain spatial distance between the first motor and the head, it is usually necessary to use a complex linkage mechanism (such as a connecting rod mechanism, gear transmission mechanism or pulley mechanism) to transmit power to drive the head to move up and down around the nodding axis. These linkage mechanisms are structurally limited by physical size and spatial layout, and are prone to mechanical interference with the neck structure when the head moves at a large angle, thereby limiting the maximum movement angle of the head nodding movement and affecting the robot's movement expressiveness and perception range. Summary of the Invention

[0003] The purpose of the embodiments of the present application is to provide a head assembly and a robot, which can free up neck space while avoiding mechanical interference with the neck structure when the head moves at large angles, thereby increasing the maximum movement angle of the head nodding action, thereby improving the robot's perception range and movement expressiveness.

[0004] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0005] A first aspect of the present application provides a head assembly, comprising:

[0006] bearing members;

[0007] a first connecting rod, a first end of the first connecting rod being rotatably connected to the bearing member;

[0008] The head body includes:

[0009] A head support, the head support is rotatably connected to the bearing member;

[0010] a first motor, the first motor being fixedly connected to the head support;

[0011] a connecting member, the connecting member being fixedly connected to the driving end of the first motor and rotatably connected to the second end of the first connecting rod;

[0012] The driving end of the first motor and the second end of the first connecting rod are connected at different positions of the connecting member, and the head bracket and the second end of the first connecting rod are rotatably connected at different positions of the supporting member.

[0013] In some modified embodiments of the first aspect of the present application, the connecting member is a wheel disc, the driving end of the first motor is fixedly connected to the first position of the wheel disc, and the second end of the first connecting rod is connected to the second position of the wheel disc; wherein the first position is the center position of the wheel disc, the second position is the edge position of the wheel disc, and the distance between the first position and the second position is less than the length of the first connecting rod.

[0014] In some modified embodiments of the first aspect of the present application, the connecting member is a second connecting rod, one end of the second connecting rod is connected to the driving end of the first motor, the other end of the second connecting rod is connected to the first end of the first connecting rod, and the length of the second connecting rod is less than the length of the first connecting rod.

[0015] In some modified implementations of the first aspect of the present application, the following further comprises:

[0016] A first damping shaft, through which the head support is rotatably connected to the bearing member;

[0017] There are two first damping rotating shafts, which are coaxially arranged and respectively arranged on both sides of the bearing component.

[0018] In some modified implementations of the first aspect of the present application, the first damping shaft includes:

[0019] A first shaft body, the first shaft body is fixedly connected to the bearing member;

[0020] a second shaft body, the second shaft body being rotatably connected to the first shaft body and fixedly connected to the head support;

[0021] The damping structure is arranged between the first shaft body and the second shaft body.

[0022] In some modified implementations of the first aspect of the present application, the first motor is arranged on one side of the first damping shaft.

[0023] In some modified implementations of the first aspect of the present application, the following further comprises:

[0024] The controller is electrically connected to the first motor. The controller is arranged on a side of the first damping shaft away from the first motor and is fixedly connected to the head support.

[0025] In some modified implementations of the first aspect of the present application, the following further comprises:

[0026] The limiting structure is fixedly connected to the bearing member and contacts the first connecting rod.

[0027] A second aspect of the present application provides a robot, comprising:

[0028] Neck assembly;

[0029] A head assembly, wherein the head assembly is connected to the neck assembly;

[0030] bearing members;

[0031] a first connecting rod, a first end of the first connecting rod being rotatably connected to the bearing member;

[0032] The head body includes:

[0033] A head support, the head support is rotatably connected to the bearing member;

[0034] a first motor, the first motor being fixedly connected to the head support and being arranged at the rear side of the robot;

[0035] a connecting member, the connecting member being fixedly connected to the driving end of the first motor and rotatably connected to the first end of the first connecting rod;

[0036] The driving end of the first motor and the first end of the first connecting rod are connected at different positions of the connecting member, and the head bracket and the second end of the first connecting rod are rotatably connected at different positions of the supporting member.

[0037] In some modified embodiments of the second aspect of the present application, the neck assembly includes:

[0038] Neck brace;

[0039] A neck body, the neck body is rotatably connected to the neck bracket via a second damping shaft, and the neck body is fixedly connected to the bearing member;

[0040] A connecting rod structure, one end of which is connected to the neck body;

[0041] a second motor, the second motor being connected to the other end of the connecting rod structure, and the second motor being fixedly connected to the neck bracket;

[0042] The head support is perpendicular to the rotation axis of the bearing component and the rotation axis of the second damping shaft, and the neck body is provided with at least one through hole, which extends along the rotation axis of the second damping shaft.

[0043] Compared with the prior art, the head assembly provided in the first aspect of the present application effectively frees up neck space by setting the first motor as a part of the head body and fixedly connected to the head bracket, which facilitates wiring and layout of other functional modules; it also rotates the head bracket of the head body to the support, fixes the driving end of the first motor to the connecting member, the connecting member is connected to the second end of the first connecting rod, the first end of the first connecting rod is rotatably connected to the support, and the driving end of the first motor and the second end of the first connecting rod are connected at different positions of the connecting member, the head bracket and the second end of the first connecting rod are rotatably connected at different positions of the support, thereby forming a planar connecting rod transmission mechanism with the support as the frame, so that the driving end of the first motor drives the connecting member to transmit power to the first connecting rod, and then the first connecting rod rotates relative to the support while driving the head body to rotate relative to the support to complete the nodding action, reducing the transmission distance, and avoiding mechanical interference with the neck structure when the head moves at a large angle, thereby increasing the maximum movement angle of the head nodding action, and improving the perception range and movement expressiveness of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0045] Figure 1 This is a schematic diagram of the three-dimensional structure of a robot provided in an embodiment of the present application;

[0046] Figure 2 This is a schematic structural diagram of a head assembly provided in an embodiment of the present application;

[0047] Figure 3 This is a structural diagram of another state of a head assembly provided by an embodiment of the present application;

[0048] Figure 4 This is a structural diagram of another embodiment of a head assembly provided in an embodiment of the present application;

[0049] Figure 5 This is a schematic diagram of a partial structure of a robot provided in an embodiment of the present application;

[0050] Figure 6 This is a schematic diagram of the three-dimensional structure of a robot from another angle provided in an embodiment of the present application.

[0051] Description of Figure Numbers:

[0052] 1. Carrying part; 2. First connecting rod; 3. Head body; 31. Head bracket; 311. Bracket body; 312. Connecting plate; 32. First motor; 33. Connecting part; 4. First damping shaft; 41. First shaft; 42. Second shaft; 5. Neck assembly; 51. Neck body; 52. Neck bracket; 53. Connecting rod structure; 531. Active connecting rod of the rotating head; 532. Extended connecting rod; 533. Passive connecting rod; 54. Second damping shaft; 55. Second motor; 6. Limiting structure; 7. Controller. DETAILED DESCRIPTION

[0053] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0054] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this disclosure belongs.

[0055] At present, the nodding action of the robot head is usually driven by a driving structure (such as a motor, a servo or a pneumatic actuator) installed in the neck area. However, this traditional structure of setting the driving structure on the neck has several limitations. First, the driving structure set on the neck will take up valuable neck space, limit the layout freedom of other functional modules (such as communication modules, sensors, wiring channels, etc.), and is not conducive to achieving compact and lightweight design. Secondly, due to the certain spatial distance between the first motor 32 and the head, it is usually necessary to use a complex linkage mechanism (such as a connecting rod mechanism, a gear transmission mechanism or a pulley mechanism) to transmit power to drive the head to move up and down around the nodding axis. These linkage mechanisms are structurally limited by physical size and spatial layout, and are prone to mechanical interference with the neck structure when the head moves at a large angle, thereby limiting the maximum movement angle of the head nodding action and affecting the robot's movement expressiveness and perception range.

[0056] In order to solve the above technical problems, the present application provides a head assembly and a robot, which can free up neck space while avoiding mechanical interference with the neck structure when the head moves at large angles, thereby increasing the maximum movement angle of the head nodding action, thereby improving the robot's perception range and movement expressiveness.

[0057] Example 1

[0058] like Figure 1 and Figure 2As shown, a head assembly includes a supporting member 1, a first connecting rod 2 and a head body 3, wherein the first end of the first connecting rod 2 is rotatably connected to the supporting member 1; the head body 3 includes a head bracket 31, a first motor 32 and a connecting member 33, wherein the head bracket 31 is rotatably connected to the supporting member 1; the first motor 32 is fixedly connected to the head bracket 31; the connecting member 33 is fixedly connected to the driving end of the first motor 32, and the connecting member 33 is rotatably connected to the second end of the first connecting rod 2; wherein, the driving end of the first motor 32 and the second end of the first connecting rod 2 are connected at different positions of the connecting member 33, and the head bracket 31 and the second end of the first connecting rod 2 are rotatably connected to different positions of the supporting member 1.

[0059] The support 1 mainly refers to the mechanical structures that are responsible for supporting and possibly allowing the robot head body 3 to move relative to the robot body (such as nodding). These components need to have sufficient strength and stability to support the weight of the head assembly, and depending on the specific application requirements, they may also need to provide precise position control capabilities. The support 1 can be a single-axis rotation support that allows the head to rotate along one axis. This can be used in applications that require pitch adjustment, such as the installation of surveillance cameras. This type of support 1 can be a bearing system or bracket for mounting a rotating shaft. The support 1 can also be a multi-axis rotation support, which provides greater flexibility for the head body 3 and allows it to be adjusted in multiple directions. Such a design is often used in humanoid robots or advanced security systems that require an all-round view. The support 1 can also be an elastic or buffer support. In order to absorb vibration or impact, elastic materials or structures can be used as the support 1, which is particularly useful for improving the stability of the system and protecting sensitive electronic equipment.

[0060] The head body 3 is an important component of the robot structure. It not only carries sensors and equipment that realize the robot's vision, hearing and other functions, but also plays an important role in human-computer interaction. The head body 3 refers to the structural part located on the upper part of the robot, which contains the facial area (even if there is no specific "face"). This part can integrate components such as cameras (for visual functions), microphones (for hearing functions), display screens or LED lights (for facial expressions or information display). In addition, the head body 3 can also include some special designs for enhancing the interactive experience, such as movable eyes, mouths or other forms of facial expression simulation devices. The head body 3 can be a functional head. This type of head body 3 focuses on realizing specific functions, such as visual recognition, voice recognition, etc. They can be designed to be relatively simple, with the focus on integrating efficient sensors and computing hardware. For example, an industrial inspection robot will have a specially designed head to carry a high-resolution camera and other inspection equipment. The head body 3 can also be an anthropomorphic head. To improve affinity and communication efficiency with human users, many service robots adopt an anthropomorphic head design. These heads can imitate human appearance features, equipped with elements such as eyes, mouths, and even hair, and can express various expressions through screen displays or mechanical movements. The head body 3 can also be a multifunctional composite head. This type of head body 3 is designed to integrate multiple functions into one. In addition to basic audio-visual functions, it may also have touch sensing, environmental sensing (such as temperature and humidity), and other functions. They are suitable for application scenarios requiring complex interactions, such as home assistant robots or educational and entertainment robots. The head body 3 can also be modular. With the growth of personalized demand, some manufacturers have begun to provide modular head design solutions, allowing users to replace different head modules according to their needs to adapt to different tasks or occasions. This provides users with a more flexible way to customize their robots. For certain specific application areas, such as medical rehabilitation and disaster relief, there are specially designed robot head bodies 3. These heads can be equipped with special sensors or actuators to meet specific professional requirements.

[0061] The head support 31 is a crucial component of the robot's main body 3. It primarily supports and secures the robot's first motor 32, sensors (such as cameras and microphones), display, and other related components. The head support 31 not only needs to provide sufficient strength to ensure the safety and stability of these devices, but also integrate various functional modules and allow for necessary movement or adjustment. The head support 31 may also include features such as heat dissipation management and wiring channels. The head support 31 can allow the head to rotate along a specific axis, other than the horizontal axis (to adjust the viewing angle in the vertical direction). This design is suitable for surveillance systems and video conferencing robots to expand the field of view or improve the interactive experience. The head support 31 can also be a multi-axis rotation support, providing the head with a wider range of freedom of movement and supporting complex motion patterns, such as omnidirectional viewing angle adjustment. A multi-axis support can include two or more rotation axes, allowing the head to move flexibly in three dimensions. This type of design is particularly suitable for humanoid robots, advanced security systems, and service robots requiring high interactivity. In addition to basic rotation, the support can also allow the user to fine-tune parameters such as head height and angle manually or through motor-driven adjustments. This flexibility allows the same robot to adapt to different mission requirements or environmental conditions. It can also combine advanced sensor technology and algorithms. Using an intelligent adaptive bracket, the robot can automatically adjust the head position according to the surrounding environment and optimize visual or auditory input. For example, when navigating in a complex environment, the robot can autonomously adjust the angle of the camera to obtain the best field of view.

[0062] In some specific embodiments, the head support 31 may include a support body 311 and a connecting plate 312. The support body 311 is fixedly connected to the first motor 32. The connecting plate 312 is disposed on one side of the support body 311 and is used to mount the damping shaft. The connecting member 33 may correspond to the position of the damping shaft and be coaxial with the damping shaft to facilitate installation of the damping shaft. For example, the connecting member 33 may be bolted to the fixed end or the rotating end of the damping shaft.

[0063] The main support body 311 is the core component of the robot's head frame 31, primarily responsible for providing structural support and a fixed mounting surface for key components such as cameras, sensors, and displays. It not only needs to possess sufficient strength and rigidity to ensure the safety and stability of these sensitive devices, but also requires consideration for effective integration with other mechanical components (such as the connecting plate 312 and motor) and electronic components. To reduce the robot's overall weight and improve energy efficiency, the main support body 311 is typically constructed from lightweight yet robust materials, such as aluminum alloy or carbon fiber. While maintaining structural strength, the main support body 311 is minimized to free up space for other components and make the overall system more compact. If heat-generating components (such as motors) are mounted on the main support body 311, appropriate heat dissipation channels or heat sinks can be installed to prevent damage from overheating. The head frame 311 can be a frame-like structure, consisting of several support rods forming an open frame. This structure saves material and weight while providing a good field of view and easy installation. The head frame 311 can also be a box-like structure, a closed box shape that better protects internal components from the external environment and is suitable for applications requiring a higher level of protection. The head bracket 31 can also be a flat-plate structure: a simple planar design is suitable for installing a single type of sensor or display. This structure is easy to process and manufacture and has low cost. The bracket body 311 can be fixedly connected to the first motor 32 that drives its movement directly or through an intermediary (such as a flange). This connection method requires high precision and stability to ensure that the bracket body 311 can accurately execute the predetermined motion trajectory under the drive of the motor. The bracket body 311 can be integrally formed with the connecting plate 312. The connecting plate 312 serves as an intermediate medium to connect the bracket body 311 with other robot components (such as a base, arm, etc.). The design of the connecting plate 312 needs to take into account easy assembly and adjustment, and may include multiple holes or slots to flexibly adjust the position and angle. Various interfaces and mounting points can be reserved on the bracket body 311 for direct installation or installation of cameras, microphones, infrared sensors and other equipment through adapters. The position and layout of these mounting points need to be carefully designed to meet the requirements of optimal performance.

[0064] The first motor 32 is an important component of the robot head body 3 and is used to drive the connecting member 33 to rotate. It not only needs to provide sufficient power to support the robot's movement requirements, but also needs to have good control performance to ensure the accuracy and stability of the movement. The first motor 32 can be a DC motor, which is suitable for application scenarios that require simple speed regulation. The speed can be adjusted by changing the input voltage, but its positioning accuracy is relatively low, which is suitable for low-cost or low-requirement situations for position control. The first motor 32 can also be a stepper motor, which can achieve precise positioning under open-loop control. It drives the rotation angle by sending a pulse signal to the motor, and each pulse corresponds to a certain angle increment. It is very suitable for applications that require precise positioning. The first motor 32 can also be a servo motor, which is combined with a closed-loop control system and uses a built-in encoder to feedback position information in real time, thereby achieving high-precision position control. The servo motor has the characteristics of fast response, large torque, and high positioning accuracy, and is widely used in industrial robots, automation equipment and other fields. The first motor 32 can also be a brushless DC motor (BLDC). Compared with the traditional brushed DC motor, the BLDC motor has no brushes, which reduces mechanical wear, improves efficiency and reliability, and also reduces noise, making it suitable for high-speed and high-efficiency applications. The first motor 32 can also be a torque motor (Torque Motor), which is a motor specially designed to provide high torque output. It is particularly suitable for applications that directly drive loads without the need for a reducer. They can be directly installed where torque needs to be applied, simplifying the design of the transmission system. The first motor 32 can also be a servo, which is a special motor system that not only includes a motor, but also includes a feedback control system for precisely controlling position, speed and acceleration. Servo is widely used in the field of robotics because it can provide precise position control. For example, the first motor 32 may include a driving body and a driving end, and the driving end is connected to the connecting member 33 to drive the connecting member 33 to rotate.

[0065] Connector 33 is a component used to interconnect the first motor 32 and the first connecting rod 2, allowing relative motion or force transmission between them. Connector 33 not only serves as a physical connection but also transmits force, torque, or motion, ensuring the coordinated operation of the entire system. Connector 33 can be a connecting rod or a wheel. The first motor 32 transmits torque to the first connecting rod 2 through connector 33, and together with the head bracket 31, the bearing 1, the first connecting rod 2, and connector 33, forms a planar transmission mechanism.

[0066] For small motors or servos, their output shafts can be directly connected to the connector 33 (such as a simple wheel and connecting rod) to transmit torque. This method is suitable for application scenarios that do not require complex force or motion conversion. For example, the first motor 32 and the connector 33 can be connected by a shaft-to-hole fit, which is one of the most direct methods and is achieved by inserting the output shaft of the motor into the hole on the load component (connector 33). In order to ensure good torque transmission and avoid loosening, interference fit, keyway plus flat key or spline can be used. Interference fit relies on precise manufacturing to ensure close contact; keyway and flat key provide a mechanical locking mechanism that increases friction and prevents sliding. The first motor 32 and the connector 33 can also be flange-connected. In some application scenarios, the motor and the load can be fixedly connected by a flange. The flange usually has multiple bolt holes, allowing the two flanges to be tightly fixed together by bolts. This method is suitable for application scenarios that require higher rigidity and positioning accuracy. The flange connection can effectively transmit large torque and can withstand certain radial and axial loads. The first motor 32 and the connector 33 can also be directly connected using a coupling. Although couplings are typically used to compensate for misalignment between different axes, they can also be used as direct connection devices in some cases, especially those with high rigidity. It is very important to choose the right type of coupling, such as a diaphragm coupling or a claw coupling, which can provide a certain degree of flexibility while ensuring good torque transmission, helping to reduce the impact of vibration and shock on the system. The first motor 32 and the connector 33 can also be designed as an integrated unit. The motor's rotor may be directly used as part of the load, or the load may be directly mounted on the motor shaft to form an integral unit. This method minimizes intermediate links and improves efficiency and reliability, but requires high manufacturing precision and assembly technology.

[0067] The first connecting rod 2 is a mechanical component used to convert the movement of one component into the movement of another component. The connecting rod can be rotatably connected at two points to achieve complex motion conversion. The first connecting rod 2 can transmit power and motion, and control the relative position or motion state between different parts in the head assembly. For example, the rotation of the first connecting rod 2 around its first end can drive the head body 3 to rotate. The first connecting rod 2 can be a monolithic connecting rod, an integral connecting rod made of a single material, which has a simple structure but the strength and rigidity are limited by the material. The first connecting rod 2 can be a split connecting rod composed of multiple parts, which are fixed together by bolts or other means, which is easy to manufacture and maintain, and the design of each part can be optimized to adapt to specific working conditions.

[0068] A rotational connection refers to a connection that allows two components to rotate relative to each other about a fixed axis. This connection is an integral part of many mechanical devices because it not only transmits force and torque but also absorbs misalignment errors to a certain extent. A rotational connection can be a bearing connection, such as a ball bearing or roller bearing. These use rolling elements (such as steel balls or rollers) to reduce friction, allowing the connecting rod to rotate freely about a fixed axis. These low friction joints are suitable for high-speed and high-load applications, are easy to maintain, and have a long service life. They are widely used in industrial machinery, automotive parts, and other applications requiring high precision and durability. Alternatively, a plane bearing can be used. Without rolling elements, rotation is achieved through sliding motion between two surfaces. Its simple structure makes it suitable for light-load, low-speed applications and certain specific mechanical devices, particularly those that are cost-sensitive and do not require high loads. A rotational connection can be a hinge connection, such as a conventional hinge. These hinges consist of a pin and a hole, allowing components to rotate relative to each other in a plane. Their simple construction makes them easy to manufacture and install, and they are relatively low-cost. They are used for opening and closing doors and covers, as well as in simple robotic arm joints. The hinge connection can also be a universal joint, which allows a certain angular offset between the two connected shafts and can still effectively transmit rotational motion and torque. It has strong flexibility and can compensate for misalignment errors within a certain range. The joint connection can also be a spherical bearing, which is specially designed to withstand large radial and axial loads while also allowing a certain angular displacement. It can withstand complex load conditions and is suitable for applications that require flexible movement direction. The rotational connection can also be an elastic coupling. Although elastic couplings are usually used for connections between shafts, in some cases they can also be used for rotational connections between connecting rods and supporting members 1. In particular, when it is necessary to absorb vibrations or compensate for slight misalignments, in addition to the basic rotation function, it also has a certain degree of flexibility and shock absorption. It can compensate for installation errors and absorb vibrations to a certain extent, and is suitable for precision instruments and high-precision transmission systems. The rotational connection can also be achieved through a damping shaft. The damping shaft not only allows relative rotation between components, but also provides a certain resistance (i.e., damping) during rotation to control or slow down the rotation speed and ensure a smooth operating experience. A damping shaft is a specially designed shaft that contains a damping medium (such as oil, gel, etc.) or a mechanical structure inside, which can generate resistance during rotation, thereby controlling the rotation speed and reducing vibration. The damping effect provided can make the rotation action smoother, avoid the impact caused by sudden opening or closing, prevent rapid rotation caused by unexpected external forces, protect the safety of users, and reduce wear on mechanical parts by absorbing vibrations and shocks, thereby extending the service life. For example, the head bracket 31 and the supporting member 1 can be connected by a damping shaft to avoid tilting of the head assembly due to gravity, and the first end and the second end of the first connecting rod 2 can be connected by a common hinge and the connecting member 33 and the supporting member 1.

[0069] like Figure 2 and Figure 3As shown, compared with the prior art, in the head component provided by the present application, by setting the first motor 32 as a part of the head main body 3 and fixedly connecting it to the head bracket 31, the neck space is effectively released, facilitating wiring and the layout of other functional modules. Also, by rotatably connecting the head bracket 31 of the head main body 3 to the carrier 1, fixedly connecting the driving end of the first motor 32 to the connecting member 33, connecting the connecting member 33 to the second end of the first link 2, rotatably connecting the first end of the first link 2 to the carrier 1, and making the driving end of the first motor 32 and the second end of the first link 2 connected to different positions of the connecting member 33, and the head bracket 31 and the second end of the first link 2 rotatably connected to different positions of the carrier 1, a planar link transmission mechanism with the carrier 1 as the frame is formed, enabling the driving end of the first motor 32 to drive the connecting member 33 to transmit power to the first link 2. Further, when the first link 2 rotates relative to the carrier 1, it带动 the head main body 3 to rotate relative to the carrier 1 to complete the nodding action, reducing the transmission distance and avoiding mechanical interference between the head and the neck structure during large-angle movement of the head. Furthermore, the maximum movement angle of the head nodding action is increased, and the sensing range and action expressiveness of the robot are improved.

[0070] As Figure 2 and Figure 3 shown, in some modified embodiments of the present application, the connecting member 33 is a disk, the driving end of the first motor 32 is fixedly connected to the first position of the disk, and the second end of the first link 2 is connected to the second position of the disk; wherein, the first position is the central position of the disk, the second position is the edge position of the disk, and the distance between the first position and the second position is less than the length of the first link 2.

[0071] The disk is a circular or approximately circular rigid disk-like structure. The first position is the central position of the disk, which is the rotation axis of the disk. The second position is the edge position of the disk, that is, a point at a certain radius from the center, used to connect the link. The output shaft (driving end) of the motor is fixedly connected to the central position (first position) of the disk, directly driving the disk to rotate around its central axis. This connection method is coaxial connection, ensuring that the disk and the motor rotate synchronously. The first end of the first link 2 is connected to the carrier 1 through a rotational connection (such as a hinge, bearing), and the second end is connected to the disk edge (second position) through a rotational connection (such as a pin shaft, ball head). The length of the link is denoted as L, and the distance from the center of the disk to the edge connection point is r. r < L can achieve torque amplification. The first motor 32 rotates to drive the disk to rotate around the motor axis (if the connection point is eccentric, the trajectory is a small circle). The disk带动 the first end of the first link 2 to make a small swing or arc movement. Since the carrier 1 does not move, it is fixed to the neck component 5 (such as Figure 1shown) or on the robot body, and the driving member is rotatably connected to the carrier 1 through the head bracket 31. Therefore, a small swing or arc movement of the first end will drive the rotation of the head body 3 (the first connecting member 33, the driving member and the head bracket 31), thereby realizing the nodding action.

[0072] As Figure 4 shown, in some modified embodiments of the present application, the connecting member 33 is a second connecting rod. One end of the second connecting rod is connected to the driving end of the first motor 32, and the other end of the second connecting rod is connected to the first end of the first connecting rod 2. The length of the second connecting rod is less than the length of the first connecting rod 2.

[0073] One end of the second connecting rod is connected to the driving end of the first motor 32 (which can be directly connected to transmit torque), and the other end is connected to the first end of the first connecting rod 2 through a rotational connection (such as a pin shaft or a hinge). The length is denoted as L2. The first end of the first connecting rod 2 is connected to the second connecting rod, and the second end is connected to the carrier 1 with a length denoted as L1, and it satisfies: L2 < L1. The second connecting rod is shorter, and the first connecting rod 2 is longer, forming a lever structure of "short driving and long following". The first motor 32 rotates to drive the second connecting rod to make a circular motion around the motor axis (if the connection point is eccentric, the trajectory is a small circle). The second connecting rod drives the first end of the first connecting rod 2 to make a small swing or arc movement. Since the first connecting rod 2 is longer (L1 > L2), the movement of its second end is "amplified" or "smoothed". Similarly, since the carrier 1 is stationary and fixed on the neck assembly 5 or the robot body, and the driving member is rotatably connected to the carrier 1 through the head bracket 31, a small swing or arc movement of the first end will drive the rotation of the head body 3 (the first connecting member 33, the driving member and the head bracket 31), thereby realizing the nodding action.

[0074] As Figure 1 shown, in some modified embodiments of the present application, it further includes a first damping rotating shaft 4. The head bracket 31 is rotatably connected to the carrier 1 through the first damping rotating shaft 4. There are two first damping rotating shafts 4, and the two first damping rotating shafts 4 are coaxially arranged and are respectively arranged on both sides of the carrier 1.

[0075] The first damping shaft 4 is a specially designed mechanical shaft that not only allows relative rotation between connected components but also provides a certain resistance (i.e., damping) during rotation. This characteristic helps control the rotation speed, absorb vibration and impact, and ensure a smoother and safer operation. The first damping shaft 4 can be a hydraulic damping shaft, which uses the viscosity of a liquid (such as oil) to generate a damping force. When the shaft rotates, the liquid inside is forced through a narrow channel, generating resistance. This can provide a stable and adjustable damping force, suitable for applications requiring high precision. The first damping shaft 4 can also be a friction damping shaft, which relies on the friction between two surfaces to achieve a damping effect. The friction coefficient can be adjusted by using a specific material combination or adding a lubricant. It has a simple structure, low cost, and easy maintenance, making it suitable for light-load applications. The first damping shaft 4 can also be a spring-damper combination damping shaft, which combines a spring and a damper to provide both a rebound force and control the rotation speed. The spring provides restoring force, while the damper absorbs energy and slows movement, enabling automatic reset, compensating for installation errors, and absorbing vibration within a certain range. The first damping shaft 4 can also be a magnetorheological fluid (MRF) damping shaft. This utilizes the viscosity of magnetorheological fluid (MRF) to adjust the damping force. The damping force can be adjusted in real time through electronic control, offering high flexibility and adaptability to complex and changing working environments.

[0076] The head support 31 can achieve smooth rotation relative to the supporting member 1 through the first damping shaft 4. When the robot is moving, if the head does not need to move independently, the damping shaft can resist the shaking caused by the movement of the head turning robot through the set damping, thereby keeping the head still, and keeping it still does not consume electricity. In addition, when the driving member is transmitted through the connecting member 33 and the first connecting rod 2, the damping shaft can also reduce the motion gap, thereby increasing the stability of the head. Select a damping shaft of appropriate specifications according to the weight of the head support 31, the expected rotation angle and the required damping effect. Make sure that there is a position on the supporting member 1 that is suitable for installing the damping shaft, and that the position has sufficient strength to withstand the expected load. For the head support 31, its center of gravity position should be considered to ensure balance during rotation. During assembly, one end of the damping shaft is fixed to the carrier 1, which can be done by bolts or other fasteners, and then the other end is connected to the head bracket 31, and an appropriate fastening method is also used. During the whole process, all components are ensured to be correctly aligned to ensure smooth rotational movement. For example, the fixed end of the damping shaft can be fixed to the carrier 1, and the movable end can be connected to the head bracket 31. After completing the initial installation, a functional test is performed to check whether there are problems such as abnormal noise or poor movement. If necessary, the adjustment device on the damping shaft (if any) can be adjusted to optimize performance. Regularly check the status of the damping shaft, including lubrication (for friction type) and sealing (for hydraulic type), to ensure long-term and reliable operation.

[0077] Since the nodding head rotates around the horizontal axis and is easily disturbed by gravity, the nodding head bracket and the neck wiring barrel are rotationally connected through two damping shafts. The two first damping shafts 4 are coaxially arranged to provide a damping effect together. The two first damping shafts 4 are respectively arranged on both sides of the supporting member 1 to make the structure more stable and avoid sagging under the influence of gravity.

[0078] like Figure 5 As shown, in some modified embodiments of the present application, the first damping shaft 4 includes a first shaft 41, a second shaft 42 and a damping structure, the first shaft 41 is fixedly connected to the carrier 1, the second shaft 42 is rotatably connected to the first shaft 41, and the second shaft 42 is fixedly connected to the head support 31; the damping structure is arranged between the first shaft 41 and the second shaft 42.

[0079] The first shaft 41 is the part of the damping shaft that is fixedly connected to the carrier 1. It is usually the static part or the basic part of the entire mechanism, responsible for providing a stable installation base point. The first shaft 41 can provide a stable installation platform to ensure that the entire damping shaft can be firmly fixed on the carrier 1, as part of the damping structure, and participate in forming the damping effect. It may include mounting holes or other forms of fixed interfaces (such as threaded holes) for connection to the carrier 1. In some designs, the first shaft 41 may also include a flow channel or chamber for accommodating the damping medium (if hydraulic damping is used).

[0080] The second shaft 42 is a part fixedly connected to the head support 31 and can rotate relative to the first shaft 41. It is a dynamic part that allows the head support 31 to rotate around a specific axis. The second shaft 42 bears the weight of the head support 31 and transmits external forces (such as the force applied by the user during manual adjustment) to achieve angle adjustment of the head support 31 through relative movement with the first shaft 41. The design of the second shaft 42 must take into account strength and wear resistance to withstand friction and loads during long-term use. In some cases, the second shaft 42 may be equipped with bearings or other low-friction components to reduce wear and improve rotation smoothness.

[0081] The damping structure is the part located between the first shaft 41 and the second shaft 42 that produces a damping effect. It provides resistance during rotation, thereby controlling the rotation speed and preventing rapid or uncontrolled rotation. The damping structure can control rotation speed, ensure smoother operation, absorb vibration and shock, protect mechanical components from damage, and enhance the user experience. For example, after adjusting the angle, the position is automatically maintained to prevent slipping. The damping structure can be the damping fluid, lubricant, spring, or other component that produces the damping effect.

[0082] like Figure 1 and Figure 4 As shown, in some modified embodiments of the present application, the first motor 32 is disposed on one side of the first damping shaft 4 .

[0083] In traditional designs, if the motor is coaxially mounted with the damping shaft (for example, the motor output shaft is directly part of the shaft), the motor body must be arranged on the extension line of the shaft, occupying valuable axial space. However, if the motor is arranged on one side of the damping shaft (lateral installation), the motor does not encroach on the axial channel, so that the space in the left and right directions (along the axis of the shaft) of the head assembly is freed up, and the overall structure is flatter and more compact, which is particularly suitable for space-constrained application scenarios. Since the axial space is not occupied by the motor, other key components can be flexibly arranged in the left and right areas of the damping shaft, such as sensors (cameras, infrared transmitters, posture sensors), display modules (such as small display screens), cable channels or wireless modules, heat dissipation structures or battery units. This layout improves the integration capability of the head assembly and facilitates the realization of a multifunctional integrated design. After the motor is placed on the side, the appearance of the head bracket 31 is simpler and more symmetrical, avoiding visual abruptness or wearing discomfort caused by the protruding motor. If the motor is coaxially integrated with the damping shaft, the electromagnetic force, vibration or installation preload of the motor may affect the stability or feel of the damping structure. The side motor is indirectly driven through a connecting rod transmission, avoiding direct axial pressure or torque disturbance, which helps maintain the smooth feel and long-term stability of the damped shaft.

[0084] like Figure 4 As shown, in some modified embodiments of the present application, a controller 7 is also included, which is electrically connected to the first motor 32. The controller 7 is arranged on the side of the first damping shaft 4 away from the first motor 32 and is fixedly connected to the head bracket 31.

[0085] The controller 7 is an electronic device or system used to control the operation of other devices (such as motors). In a mechanical system, the controller 7 is generally used to receive input signals (from sensors, user interfaces, or other control systems), process these signals, and output instructions to the actuator (such as a motor). The controller 7 can send current or voltage signals to control the speed, direction, and start and stop of the motor. It can also obtain data such as position, speed, temperature, etc. through sensors. It can also adjust the operating parameters of the motor based on feedback information to achieve the desired function or effect. It can also ensure that the system operates within a safe range to prevent overheating, overload, etc. For example, the controller 7 can be a programmable logic controller (PLC), a microcontroller unit (MCU), and the mainboard of a robot.

[0086] The controller 7 is arranged on the side of the first damping shaft 4 away from the first motor 32 and is fixedly connected to the head bracket 31, that is, the controller 7 and the first motor 32 are respectively arranged on both sides of the first damping shaft 4, so as to balance the weight of the first motor 32 and avoid one side of the first damping shaft 4 being too heavy and tilting.

[0087] like Figure 4As shown, in some modified implementations of the present application, a limiting structure 6 is further included, which is fixedly connected to the carrier 1 and in contact with the first connecting rod 2. The limiting structure 6 refers to a device or component for limiting the range of motion of mechanical parts to ensure that these parts operate within a predetermined safety range. The limiting structure 6 is installed on the carrier 1 and in contact with the moving parts (such as the first connecting rod 2) to prevent excessive movement from causing damage to the equipment or functional failure. The limiting structure 6 can limit the rotation angle and control the zero point, which is crucial for protecting the mechanical system from accidental impact, wear and tear, and improving the reliability and safety of the system.

[0088] For example, the limiting structure 6 can be a block, a solid block fixed to the bearing 1. When the connecting rod reaches its limit position, it contacts the bearing and stops further movement. Alternatively, the limiting structure 6 can be a limit bolt, whose position is adjusted to set the maximum travel. Alternatively, the limiting structure 6 can be a stop pin, inserted into a specific hole or fixed along the path to serve as a mechanical barrier.

[0089] Example 2

[0090] like Figure 1 As shown, a robot includes a neck component 5 and a head component, and the head component is connected to the neck component 5; the head component includes a supporting member 1, a first connecting rod 2 and a head body 3, and the first end of the first connecting rod 2 is rotatably connected to the supporting member 1; the head body 3 includes a head bracket 31, a first motor 32 and a connecting member 33, and the head bracket 31 is rotatably connected to the supporting member 1; the first motor 32 is fixedly connected to the head bracket 31; the connecting member 33 is fixedly connected to the driving end of the first motor 32, and the connecting member 33 is rotatably connected to the second end of the first connecting rod 2; wherein, the driving end of the first motor 32 and the second end of the first connecting rod 2 are connected at different positions of the connecting member 33, and the head bracket 31 and the second end of the first connecting rod 2 are rotatably connected to different positions of the supporting member 1.

[0091] A robot is a machine capable of performing tasks autonomously, typically controlled by a computer program. It can perceive its environment, make decisions, and take actions. Robots can be stationary (such as industrial robots) or mobile (such as service robots) and are widely used in a variety of fields, including manufacturing, healthcare, agriculture, and the home. For example, robots can be industrial robots, used for tasks such as welding, painting, and assembly on automated production lines. They can also be service robots, providing various services to humans, such as cleaning, nursing, and education. Robots can also be specialized robots, performing specialized tasks such as rescue, exploration, and military use. Robots can also be medical robots, assisting doctors with surgery and rehabilitation training. Robots can also be entertainment robots, used for performances and interactive games. Robots can also be agricultural robots, used for sowing, harvesting, and monitoring crop growth. Robots can also be household robots, such as robot vacuums and smart speakers.

[0092] The robot can be a dog-like robot (also known as a robot dog or quadruped robot). This type of robot mimics the appearance and movement of real dogs, capable of walking, running, jumping, and climbing stairs. It is widely used in scientific research, security inspections, rescue operations, education, and entertainment. A dog-like robot is a bionic quadruped robot whose structure and movement mimic those of real dogs. It can have four independently controllable legs to achieve stable walking in complex terrain. It can also be equipped with a sensor system (such as a camera, lidar, or IMU) for environmental awareness, and a control system that can achieve autonomous navigation, obstacle avoidance, and voice interaction. It can also have certain human-computer interaction capabilities, such as facial expression display, voice feedback, and follow-me behavior.

[0093] Neck assembly 5 refers to the mechanical structure connecting the head assembly and the trunk (main body), allowing the head to perform a certain degree of independent movement (such as pitch, rotation) to achieve viewing angle adjustment, posture expression or interactive purposes. Neck assembly 5 can be a fixed neck, in which the head is rigidly connected to the trunk and has no independent movement ability. It has the simplest structure, light weight and high stability. Neck assembly 5 can also be a single degree of freedom, supporting the head to swing left and right (pitch) for adjusting the camera viewing angle. Neck assembly 5 can also be a flexible bionic neck using multiple links or flexible structures to simulate the movement of dog neck muscles and achieve a more natural dynamic posture.

[0094] The head component is the core module for the dog-type robot to perceive, interact and express. The specific structure of the head component can be as described in Example 1 and will not be repeated here. The camera installed on the head can rotate with the neck to expand the field of view and realize the "turn head to observe" behavior. When the user calls, the robot dog can "turn its head" to look in the direction of the sound source to enhance the realism of the interaction. The sensor on the head can scan the terrain in front, and the neck adjusts the angle to obtain the best viewing angle. It is also possible to express emotions such as "curiosity" and "obedience" through head posture (lowering, raising, tilting the head) in conjunction with the display component expression.

[0095] The rear side refers to the side opposite the robot's normal forward or frontal direction. For example, for a dog-like robot, the front side of the head is where the nose and camera are located, while the rear side is the back near the torso. For a humanoid robot, the front side is the face (with screen or camera), and the rear side is the back of the head. Positioning the drive components on the rear side allows them to be hidden behind the head, avoiding visual impact, balancing the head's center of gravity, preventing forward tilt, and improving motion stability. Specifically, non-interactive components (such as motors and wiring ports) can be hidden on the rear side, allowing the front side of the head to maintain a simple, anthropomorphic, or lifelike appearance, avoiding obstruction of key components such as the camera, microphone, and expression screen, thereby enhancing perception and user friendliness. The front side of the head typically integrates heavier components such as the camera module and screen. Placing the drive motor or counterweight on the rear side achieves front-to-back mass balance, preventing excessive moments of inertia when the head tilts forward or swings. This is particularly suitable for neck mechanisms that support pitch or rotational motion, improving control accuracy and lifespan.

[0096] Compared with the prior art, the head assembly of the robot provided in the present application effectively frees up neck space by setting the first motor 32 as a part of the head body 3 and fixedly connecting it to the head bracket 31, which is convenient for wiring and layout of other functional modules; it also rotates the head bracket 31 of the head body 3 and connects the driving end of the first motor 32 to the connecting member 33, the connecting member 33 is connected to the second end of the first connecting rod 2, the first end of the first connecting rod 2 is rotatably connected to the supporting member 1, and the driving end of the first motor 32 and the second end of the first connecting rod 2 are connected to the connecting member 33. At different positions, the head bracket 31 and the second end of the first connecting rod 2 are rotatably connected to different positions of the support member 1, thereby forming a planar connecting rod transmission mechanism with the support member 1 as the frame, so that the driving end of the first motor 32 drives the connecting member 33 to transmit power to the first connecting rod 2, thereby causing the first connecting rod 2 to rotate relative to the support member 1 while driving the head body 3 to rotate relative to the support member 1 to complete the nodding action, reducing the transmission distance, and avoiding mechanical interference with the neck structure when the head moves at a large angle, thereby increasing the maximum movement angle of the head nodding action, and improving the robot's perception range and movement expressiveness.

[0097] like Figure 6As shown, in some modified embodiments of the present application, the neck assembly 5 includes a neck bracket 52, a neck body 51, a connecting rod structure 53 and a second motor 55. The neck body 51 is rotatably connected to the neck bracket 52 through the second damping shaft 54, and the neck body 51 is fixedly connected to the supporting member 1; one end of the connecting rod structure 53 is connected to the neck body 51, and the second motor 55 is connected to the other end of the connecting rod structure 53, and the second motor 55 is fixedly connected to the neck bracket 52; wherein, the head bracket 31 is perpendicular to the rotation axis of the supporting member 1 and the rotation axis of the second damping shaft 54, and the neck body 51 is provided with at least one through hole, which extends along the rotation axis of the second damping shaft 54.

[0098] The neck bracket 52 is a support structure fixed beneath the robot's torso or head. It provides a mounting base and ensures the entire neck assembly 5 is securely connected to the robot's main body. The neck bracket 52 can be a rigid bracket made of a metal material (such as aluminum alloy or stainless steel), which offers high strength and rigidity and can withstand external loads without deformation. Alternatively, the neck bracket 52 can be a flexible bracket made of a material with a certain degree of elasticity (such as carbon fiber composite material) to absorb vibration or impact and protect internal components.

[0099] The neck body 51 is the core component connecting the head and the torso, and may include multiple joints or shafts, allowing the head to move freely within a certain range (such as pitch, rotation). It is also the basic platform for carrying sensors, cameras and other equipment. The neck body 51 can be a single-degree-of-freedom body: it only supports rotation in one direction (such as rotation), which is suitable for simple head movement requirements. The neck body 51 can also be a multi-degree-of-freedom body, supporting independent rotation in multiple directions (such as rotation + roll), simulating more complex biological behaviors, and suitable for high-end service robots or bionic robots. The neck body 51 is provided with at least one through hole, which extends along the rotation axis of the second damping shaft 54. The provision of the through hole can facilitate the passage of cables and connection with the head assembly, thereby facilitating the transmission of electricity and signals between the robot body and the head assembly.

[0100] The connecting rod structure 53 is a mechanical transmission device that connects different components through a series of connecting rods and hinges, transmitting the power of the second motor 55 to the neck body 51 to achieve precise control. The connecting rod structure 53 can be a parallelogram linkage mechanism, which ensures that the end effector always moves in the same plane and is often used to improve motion accuracy. For example, the second motor 55 can be fixedly connected to the active connecting rod 531 of the swivel head. The active connecting rod 531 of the swivel head is rotatably connected to the extension connecting rod 532 via a pin. The extension connecting rod 532 is rotatably connected to the passive connecting rod 533 extending from the wiring barrel (neck body 51) via a pin. The wiring barrel is fixedly connected to the movable end of the damping shaft, which is rotatably connected to the fixed end. The fixed end is fixedly connected to the swivel head bracket, forming a parallelogram linkage mechanism. The rotation of the motor drives the neck wiring barrel to rotate left and right, achieving an extended transmission distance, low manufacturing cost and high reliability. The connecting rod structure 53 can also be a double rocker mechanism: the two rockers are connected to the drive source and the load respectively, achieving a large range of swing or rotation, which is common in complex posture adjustments. The structures and types of the second damping shaft 54 ​​and the second motor 55 may be the same as those of the first damping shaft 4 and the first motor 32 , and are not described in detail here.

[0101] The neck body 51 is connected to the neck bracket 52 via a second damping shaft 54. This allows the neck body 51 to rotate freely within a certain range of angles while being restrained by the damping effect to prevent excessive or uncontrolled movement. Upon receiving a control signal, a driver (such as a servo motor) begins outputting torque, which is then transferred to the neck body 51 via a connecting rod structure. This connecting rod structure allows for fine adjustment of the neck body 51 in multiple directions. The second damping shaft 54 ​​provides the necessary resistance, ensuring smooth and controlled movement and preventing excessive swing or vibration due to inertia.

[0102] The head support 31 is perpendicular to the rotation axis of the bearing 1 and the rotation axis of the second damping shaft 54. This means that the rotation axis of the first damping shaft 4 is perpendicular to the rotation axis of the second damping shaft 54. This allows the movement of one axis to have a minimal effect on the load of the other axis. For example, the second damping shaft 54 ​​can be arranged vertically to achieve a turning motion, while the first damping shaft 4 can be arranged horizontally to achieve a nodding motion.

[0103] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A head assembly, characterized in that: include: bearing members; a first connecting rod, a first end of the first connecting rod being rotatably connected to the bearing member; A head body, the head body comprising: a head support, the head support being rotatably connected to the bearing member; a first motor, wherein the first motor is fixedly connected to the head support; a connecting member, the connecting member being fixedly connected to the driving end of the first motor and rotatably connected to the second end of the first connecting rod; The driving end of the first motor and the second end of the first connecting rod are connected to different positions of the connecting member, and the head bracket and the second end of the first connecting rod are rotatably connected to different positions of the supporting member.

2. The head assembly according to claim 1, wherein: The connecting member is a wheel disc, the driving end of the first motor is fixedly connected to the first position of the wheel disc, and the second end of the first connecting rod is connected to the second position of the wheel disc; wherein, the first position is the center position of the wheel disc, the second position is the edge position of the wheel disc, and the distance between the first position and the second position is less than the length of the first connecting rod.

3. The head assembly according to claim 1, wherein: The connecting member is a second connecting rod, one end of the second connecting rod is connected to the driving end of the first motor, the other end of the second connecting rod is connected to the first end of the first connecting rod, and the length of the second connecting rod is less than the length of the first connecting rod.

4. The head assembly according to claim 1, wherein: Also includes: a first damping shaft, the head support being rotatably connected to the bearing member via the first damping shaft; There are two first damping rotation shafts, which are coaxially arranged and respectively arranged on both sides of the bearing component.

5. The head assembly according to claim 4, characterized in that The first damping shaft comprises: a first shaft body, the first shaft body being fixedly connected to the bearing member; a second shaft, the second shaft being rotatably connected to the first shaft and fixedly connected to the head support; A damping structure is provided between the first shaft body and the second shaft body.

6. The head assembly according to claim 4, wherein: The first motor is disposed on one side of the first damping shaft.

7. The head assembly according to claim 6, wherein: Also includes: A controller is electrically connected to the first motor, and the controller is arranged on a side of the first damping shaft away from the first motor and fixedly connected to the head support.

8. The head assembly according to claim 1, wherein: Also includes: A limiting structure is fixedly connected to the bearing member and is in contact with the first connecting rod.

9. A robot, characterized in that: include: Neck assembly; a head assembly, the head assembly being connected to the neck assembly; bearing members; a first connecting rod, a first end of the first connecting rod being rotatably connected to the bearing member; A head body, the head body comprising: a head support, the head support being rotatably connected to the bearing member; a first motor, the first motor being fixedly connected to the head support and disposed at the rear side of the robot; a connecting member, the connecting member being fixedly connected to the driving end of the first motor and rotatably connected to the first end of the first connecting rod; The driving end of the first motor and the first end of the first connecting rod are connected to different positions of the connecting member, and the head bracket and the second end of the first connecting rod are rotatably connected to different positions of the supporting member.

10. The robot according to claim 9, characterized in that The neck assembly comprises: Neck brace; A neck body, the neck body being rotatably connected to the neck bracket via a second damping shaft, and the neck body being fixedly connected to the bearing member; a connecting rod structure, one end of which is connected to the neck body; a second motor, the second motor being connected to the other end of the connecting rod structure, and the second motor being fixedly connected to the neck support; Wherein, the head support is perpendicular to the rotation axis of the bearing component and the rotation axis of the second damping shaft, and the neck body is provided with at least one through hole, and the through hole extends along the rotation axis of the second damping shaft.

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