Head mechanism and robot

Abstract

The application discloses a head mechanism and a robot, comprising: a head structure, the head structure comprising a shell, a first support and a first driving assembly, an accommodating cavity is formed in the interior of the shell, part of the first support is arranged in the accommodating cavity, the first driving assembly comprises a first driving member and a first transmission member, the first driving member is arranged on the first support, and the first transmission member is connected with the output end of the first driving member; a second transmission member is arranged for connecting with a trunk mechanism or a neck mechanism, the first driving member is arranged at intervals from the second transmission member, the first transmission member is in transmission connection with the second transmission member; the first transmission member has a first axis, the second transmission member has a second axis, and the first axis is parallel to the second axis.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a head mechanism and a robot. Background Technology

[0002] In robots, head movement is the embodiment of the robot's entire spirit, and an external manifestation of its internal perception, operational state, and interactive intentions. The two degrees of freedom of the head's transmission movement reflects the robot's role as a bridge connecting the virtual and real worlds.

[0003] In related technologies, the drive module that controls the head structure to shake is usually located inside the head shell. The output shaft of the drive module is directly connected to the torso or neck. This setting results in the drive module being located in the center of the head structure shell. The setting position of the drive module is relatively fixed, which will affect the sound production effect of the entire cavity and will also occupy a large amount of space. Summary of the Invention

[0004] One objective of this application is to provide a head mechanism and a robot.

[0005] According to a first aspect of the embodiments of this application, a head mechanism is provided, comprising:

[0006] The head structure includes a housing, a first support, and a first drive assembly. The housing has an internal cavity, and a portion of the first support is disposed in the cavity. The first drive assembly includes a first drive member and a first transmission member. The first drive member is disposed in the first support, and the first transmission member is connected to the output end of the first drive member.

[0007] The second transmission component is used to connect with the torso mechanism or the neck mechanism. The first driving component and the second transmission component are spaced apart and are connected in a transmission manner to each other.

[0008] The first transmission component has a first axis, and the second transmission component has a second axis, wherein the first axis is parallel to the second axis;

[0009] The first driving member can drive the first transmission member to rotate around the first axis, and the first transmission member can rotate relative to the second transmission member around the second axis, so as to drive the head structure to rotate around the second axis.

[0010] Optionally, the first transmission member includes a first gear, and the second transmission member includes a second gear, wherein the first gear meshes with the second gear;

[0011] The first gear is capable of rotating around the second gear.

[0012] Optionally, the diameter of the first gear is smaller than the diameter of the second gear.

[0013] Optionally, the first bracket includes a first mounting portion, a second mounting portion, and a third mounting portion, the first mounting portion and the second mounting portion being spaced apart, the third mounting portion being located outside the receiving cavity, the third mounting portion being disposed between the first mounting portion and the second mounting portion, and the first driving assembly being disposed on the first mounting portion;

[0014] The third mounting part is rotatably connected to the second transmission component via a first bearing.

[0015] Optionally, the third mounting portion is provided with an annular groove;

[0016] The second transmission component has a first mounting hole, the second transmission component is located in the annular groove, the inner ring of the first bearing mates with the annular groove, and the outer ring of the first bearing mates with the first mounting hole.

[0017] Optionally, the third mounting portion is further provided with a receiving groove, the receiving groove being located on the side of the annular groove away from the center of the third mounting portion, the receiving groove communicating with the annular groove, and the first transmission member being located in the receiving groove.

[0018] Optionally, the third mounting part is further provided with a third mounting hole, which communicates with the receiving groove, and the output end of the first driving member is connected to the third mounting hole through a second bearing.

[0019] Optionally, the third mounting part is further provided with a second mounting hole, which is located on the side of the annular groove near the center of the third mounting part;

[0020] The head structure further includes an encoding component, which includes a detection element and a magnetic ring element. The detection element is disposed in the second mounting hole, and the magnetic ring element is disposed in the first mounting hole.

[0021] Optionally, the housing has a first clearance hole and a second clearance hole on each side, which communicate with the receiving cavity. The first mounting part passes through the first clearance hole, and the second mounting part passes through the second clearance hole.

[0022] Optionally, the first bracket further includes a fourth mounting portion, which is located in the receiving cavity and is disposed between the first mounting portion and the second mounting portion;

[0023] The head mechanism further includes a second drive assembly and a second bracket. The second drive assembly is disposed in the fourth mounting portion, and the second bracket is located in the receiving cavity and connected to the housing. The second bracket is connected to the drive end of the second drive assembly, and the second drive assembly can drive the second bracket to rotate around the third axis.

[0024] The third axis intersects with the first axis.

[0025] According to a second aspect of the embodiments of this application, a robot is provided, comprising:

[0026] The aforementioned head mechanism and torso mechanism, wherein the second transmission member is disposed in the torso mechanism; or

[0027] The head mechanism and neck mechanism described above, wherein the second transmission member is disposed in the neck mechanism.

[0028] One technical advantage of this application embodiment is that the installation position of the first driving member is more flexible. The position of the first driving member can be adjusted by selecting a first transmission member of different sizes as needed, so that the first driving component can be set in a non-central position of the housing cavity, thereby avoiding affecting the sound output effect of the speaker set in the housing cavity, and without occupying a large space, so that the structure of the head mechanism is more compact.

[0029] Other features and advantages of this application will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0030] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the present application and, together with their description, serve to explain the principles of the present application.

[0031] Figure 1 This is a schematic diagram of the head mechanism in the embodiments of this application;

[0032] Figure 2 for Figure 1 Sectional view at point AA;

[0033] Figure 3 This is a schematic diagram of the structure of the first bracket, the first drive assembly, the second transmission component, the second bracket, and the second drive assembly in an embodiment of this application;

[0034] Figure 4 for Figure 3 Sectional view at BB in the middle;

[0035] Figure 5 This is a schematic diagram of the head mechanism in the embodiments of this application;

[0036] Figure 6 This is a schematic diagram of the robot structure in the embodiments of this application.

[0037] Explanation of reference numerals in the attached drawings: Head mechanism 100; Housing 1; Receiving cavity 11; First clearance hole 12; Second clearance hole 13; First bracket 2; First mounting part 21; Second mounting part 22; Third mounting part 23; Annular groove 231; First side 2311; Second side 2312; Second mounting hole 232; Receiving groove 233; Third mounting hole 234; Fourth mounting part 24; First drive assembly 3; First drive component 31; Motor 311; Sleeve 312; First transmission component 32; Second transmission component 4; First mounting hole 41; Encoding assembly 5; Detection component 51; Magnetic ring component 52; First bearing 6; Second bearing 7; Second bracket 8; Second drive assembly 9; First axis a; Second axis b; Third axis c; Torso mechanism 200; Robot 1000. Detailed Implementation

[0038] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0039] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the scope of this application and its application or use.

[0040] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0041] In all the examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0042] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0043] In the specification and claims of this invention, the terms "first" and "second" may explicitly or implicitly include one or more of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0044] In the description of this invention, it should be understood that if the terms "axial", "radial", etc., are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0045] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0046] First, it should be noted that the first direction mentioned in the embodiments of this application is the left-right direction, the second direction is the up-down direction, and the third direction is the front-back direction. The first direction, the second direction, and the third direction refer to the state when the head mechanism is facing directly forward.

[0047] Please refer to the first direction, second direction, and third direction in the embodiments of this application. Figure 1 , Figure 4 as well as Figure 6 The axes in the first direction, the second direction, and the third direction intersect each other.

[0048] like Figures 1-5 As shown, according to a first aspect of the embodiments of this application, a head mechanism 100 is provided, including a head structure and a second transmission member 4; the head structure includes a housing 1, a first support 2, and a first drive assembly 3, wherein a receiving cavity 11 is formed inside the housing 1, a portion of the first support 2 is disposed in the receiving cavity 11, the first drive assembly 3 includes a first drive member 31 and a first transmission member 32, the first drive member 31 is disposed on the first support 2, and the first transmission member 32 is connected to the output end of the first drive member 31; the second transmission member 4 is used to connect with a torso mechanism 200 or a neck mechanism, the first drive member 31 and the second transmission member 4 are spaced apart, and the first transmission member 32 is drively connected to the second transmission member 4; the first transmission member 32 has a first axis a, and the second transmission member 4 has a second axis b, the first axis a and the second axis b are parallel; the first drive member 31 can drive the first transmission member 32 to rotate around the first axis a, and the first transmission member 32 can rotate relative to the second transmission member 4 around the second axis b, so as to drive the head structure to rotate around the second axis b.

[0049] like Figures 1-5 As shown, the head mechanism 100 includes a head structure and a second transmission member 4; wherein, the second transmission member 4 is disposed on the torso mechanism 200 or the neck mechanism, and the second transmission member 4 is fixedly connected to the torso mechanism 200 or the neck mechanism.

[0050] Further explanation: The head structure includes a shell 1, a first support 2, and a first drive assembly 3. The shell 1 has an internal cavity 11. Part of the first support 2 is located within the cavity 11, meaning another part of the first support 2 is located outside the cavity 11. The first support 2 is rotatably connected to the shell 1, or it can be rotatably connected to the shell 1 via other structures, with its rotation axis intersecting the first axis a. The first drive assembly 3 includes a first drive member 31 and a first transmission member 32. The first drive member 31 is mounted on the first support 2, which provides mounting support for the first drive member 31. The first drive member 31 can be located inside or outside the cavity 11. The first transmission member 32 is connected to the drive end of the first drive member 31 and is located outside the cavity 11. The first transmission member 32 is drively connected to the second transmission member 4. The first transmission member 32 has a first axis a, and the second transmission member 4 has a second axis b. The first axis a and the second axis b are parallel.

[0051] To further explain, when the first driving member 31 drives the first transmission member 32 to rotate around the first axis a, the first transmission member 32 will rotate around the second transmission member 4 in a circumferential direction, thereby driving the head structure to rotate around the second axis b of the second transmission member 4, thus enabling the head structure to shake its head.

[0052] In the head mechanism 100 of this application, the first axis a of the first transmission member 32 is parallel to the second axis b of the second transmission member 4, and the first driving member 31 is spaced apart from the second axis b of the second transmission member 4. That is to say, the first driving member 31 and the second transmission member 4 are connected by transmission through the first transmission member 32. The first driving member 31 and the second transmission member 4 do not need to be directly connected. The installation position of the first driving member 31 is more flexible. The position of the first driving member 31 can be adjusted by selecting different sizes of first transmission members 32 as needed. This allows the first driving component 3 to be set in a non-central position of the receiving cavity 11 of the housing 1, thereby avoiding affecting the sound output effect of the speaker set in the receiving cavity 11, and without occupying a large space, so that the structure of the head mechanism 100 is more compact.

[0053] In one optional embodiment, the first transmission member 32 includes a first gear, and the second transmission member 4 includes a second gear, with the first gear meshing with the second gear; the first gear is capable of rotating around the second gear; specifically, the second gear is mounted on the torso mechanism 200 or the neck mechanism, and the first gear is mounted on the driving end of the first driving member 31, with the first gear meshing with the second gear. When the first driving member 31 drives the first gear to rotate, the first gear is capable of rotating around the second gear; in this embodiment, the transmission reliability of the gears is high, and the transmission accuracy is high, thereby improving the stability and reliability of the head-shaking mechanism.

[0054] The first gear can be a spur gear, a helical gear, or a straight gear; the second gear can be a spur gear, a helical gear, or a straight gear.

[0055] In one alternative embodiment, the diameter of the first gear is smaller than the diameter of the second gear; specifically, the diameter of the first gear is smaller than the diameter of the second gear, and the torque is amplified according to the transmission ratio between the first gear and the second gear to reduce the torque requirement on the first drive member 31.

[0056] In one optional embodiment, the first bracket 2 includes a first mounting portion 21, a second mounting portion 22, and a third mounting portion 23. The first mounting portion 21 and the second mounting portion 22 are spaced apart, and the third mounting portion 23 is located outside the receiving cavity 11, between the first mounting portion 21 and the second mounting portion 22. The first driving assembly 23 is located on the first mounting portion 21. The third mounting portion 23 is rotatably connected to the second transmission member 4 via a first bearing 6. Specifically, the first mounting portion 21 and the second mounting portion 22 are spaced apart along a first direction. A portion of the first mounting portion 21 is located inside the receiving cavity 11, and another portion of the first mounting portion 21 is located outside the receiving cavity 11. A portion of the second mounting portion 22 is located inside the receiving cavity 11, and another portion of the second mounting portion 22 is located outside the receiving cavity 11. The third mounting portion 23 is located outside the receiving cavity 11. Between the first mounting part 21 and the second mounting part 22, a third mounting part 23 is connected to both the first mounting part 21 and the second mounting part 22. The third mounting part 23 is located outside the receiving cavity 11. It can also be understood that the third mounting part 23 is located at the end of the first mounting part 21 and the second mounting part 22 near the second transmission member 4. The third mounting part 23 is rotatably connected to the second transmission member 4 through the first bearing 6. The outer ring of the first bearing 6 cooperates with the second transmission member 4, and the inner ring of the first bearing 6 cooperates with the third mounting part 23. Since the second transmission member 4 does not rotate, the third mounting part 23 can rotate relative to the second axis b of the second transmission member 4 through the first bearing 6. In this embodiment, the third mounting part 23 is rotatably connected to the second transmission member 4 through the first bearing 6, which can provide support for the first bracket 2 to ensure the stability and reliability of the head structure when rotating and avoid the problem of skew.

[0057] In one alternative embodiment, the third mounting portion 23 is provided with an annular groove 231; specifically, the opening of the annular groove 231 faces the second transmission member 4, the depth direction of the annular groove 231 is the second direction, which is also the axial direction of the second transmission member 4, and the annular groove 231 includes a first side surface 2311 and a second side surface 2312. The first side surface 2311 is closer to the edge of the third mounting portion 23 than the second side surface 2312. In other words, the diameter of the first side surface 2311 is larger than the diameter of the second side surface 2312.

[0058] Further explanation: the second transmission component 4 has a first mounting hole 41, and the second transmission component 4 is located in the annular groove 231. The inner ring of the first bearing 6 mates with the annular groove 231, and the outer ring of the first bearing 6 mates with the first mounting hole 41. Specifically, the axis of the first mounting hole 41 coincides with the second axis b, and the inner diameter of the first mounting hole 41 is smaller than the outer diameter of the second transmission component 4. The second transmission component 4 is located within the annular groove 231. In the radial direction of the second transmission component 4, there is a certain gap between the outer edge of the second transmission component 4 and the first side surface 2311. The axial direction of the second transmission component 4 is perpendicular to the depth of the annular groove 231. In the same direction, along the axial direction of the second transmission member 4, a portion of the second transmission member 4 is located within the annular groove 231, thereby preventing the third mounting portion 23 from rubbing against the torso mechanism 200 or the neck mechanism during rotation; the inner ring of the first bearing 6 engages with the annular groove 231, and the outer ring of the first bearing 6 engages with the inner wall of the first mounting hole 41, thereby enabling the second transmission member 4 and the third mounting portion 23 to be rotatably connected via the first bearing 6; in this embodiment, a portion of the second transmission member 4 extends into the annular groove 231, thereby reducing the size of the head structure in the second direction, thus making the structure of the head mechanism 100 more compact.

[0059] In an optional embodiment, the third mounting portion 23 is further provided with a receiving groove 233, which is located on the side of the annular groove 231 away from the center of the third mounting portion 23. The receiving groove 233 communicates with the annular groove 231, and the first transmission member 32 is located in the receiving groove 233. Specifically, the receiving groove provides a receiving space for the first transmission member 32, thereby reducing the size of the third mounting portion 23 and making the structure of the head mechanism 100 more compact.

[0060] In an optional embodiment, the third mounting part 23 is further provided with a third mounting hole 234, which communicates with the receiving groove 233. The output end of the first driving member 31 is connected to the third mounting hole 234 through a second bearing 7. Specifically, the axis of the third mounting hole 234 coincides with the first axis a, and the third mounting hole 234 communicates with the receiving groove 233. The first transmission member 32 is located in the receiving groove 233. Since the output end of the first driving member 31 is connected to the first transmission member 32, the output end of the first driving member 31 will pass through the third mounting hole 234. The output end of the first driving member 31 is connected to the third mounting hole 234 through the second bearing 7. The second bearing 7 can improve the stability of the first driving member 31 driving the first transmission member 32 to rotate, so as to ensure higher stability when the head structure shakes.

[0061] In an optional embodiment, the first driving member 31 includes a motor 311 and a sleeve 312. The sleeve 312 is connected to the output shaft of the motor 311, and the first transmission member 32 is connected to the sleeve 312. The sleeve 312 is rotatably connected to the third mounting hole 234 through the second bearing 7.

[0062] In another alternative embodiment, the first drive member 31 includes a motor 311, the output shaft of the motor 311 is connected to the first transmission member 32, and the output shaft of the motor 311 is rotatably connected to the third mounting hole 234 through the second bearing 7.

[0063] In an optional embodiment, the third mounting portion 23 is further provided with a second mounting hole 232, which is located on the side of the annular groove 231 near the center of the third mounting portion 23. Specifically, the second mounting hole 232 is opened on the side of the annular groove 231 near the center of the third mounting hole 234. That is, the inner diameter of the second mounting hole 232 is smaller than the distance from the second side 2312 of the annular groove 231 to the center of the third mounting portion 23. It can also be understood that the annular groove 231 is opened around the second mounting hole 232, and the center of the third mounting portion 23 is the same as the center of the second mounting hole 232.

[0064] The head structure also includes an encoding component 5, which includes a detection element 51 and a magnetic ring element 52. The detection element 51 is disposed in the second mounting hole 232, and the magnetic ring element 52 is disposed in the first mounting hole 41. Specifically, the detection element 51 is disposed in the second mounting hole 232, and the magnetic ring element 52 is disposed in the first mounting hole 41. When the third mounting part 23 rotates relative to the second transmission member 4, the detection element 51 and the magnetic ring element 52 undergo relative displacement, thereby detecting the rotation angle of the head structure. In this embodiment, by disposing the encoding component 5 in the third mounting part 23 and the second transmission member 4 respectively, the structure of the head mechanism 100 can be made more compact. On the other hand, due to the increased installation accuracy of the magnetic ring element 52, compared to disposing it on the first bracket 2, placing the magnetic ring element 52 on the second transmission member 4 does not require frequent disassembly, resulting in lower maintenance costs and difficulty.

[0065] In an optional embodiment, the housing 1 has a first clearance hole 12 and a second clearance hole 13 communicating with the receiving cavity 11 on both sides. The first mounting part 21 passes through the first clearance hole 12, and the second mounting part 22 passes through the second clearance hole 13. Specifically, the housing 1 has a first clearance hole 12 and a second clearance hole 13 communicating with the receiving cavity 11 on both sides in a first direction. Since part of the first mounting part 21 is located in the receiving cavity 11 and the other part is located outside the receiving cavity 11, the first mounting part 21 passes through the first clearance hole 12 to the receiving cavity 11. Since part of the second mounting part 22 is located in the receiving cavity 11 and the other part is located outside the receiving cavity 11, the second mounting part 22 passes through the second clearance hole 13 to the receiving cavity 11. In this embodiment, the first clearance hole 12 and the second clearance hole 13 are opened on both sides, which can ensure the structural strength of the housing 1.

[0066] In an optional embodiment, the first bracket 2 further includes a fourth mounting portion 24, which is located in the receiving cavity 11 and is disposed between the first mounting portion 21 and the second mounting portion 22. Specifically, the fourth mounting portion 24 and the third mounting portion 23 are spaced apart along the second direction. Since the first mounting portion 21 and the second mounting portion 22 are both partially located in the receiving cavity 11 and partially located in the receiving cavity 11, the third mounting portion 23 is located outside the receiving cavity 11, and the fourth mounting portion 24 is located inside the receiving cavity 11. The fourth mounting portion 24 is located between the first mounting portion 21 and the second mounting portion 22 and is connected to the first mounting portion 21 and the second mounting portion 22.

[0067] Further explanation: The head mechanism 100 also includes a second drive assembly 9 and a second bracket 8. The second drive assembly 9 is disposed on the fourth mounting portion 24, and the second bracket 8 is located in the receiving cavity 11 and connected to the housing 1. The second bracket 8 is connected to the drive end of the second drive assembly 9, and the second drive assembly 9 can drive the second bracket 8 to rotate around a third axis c; the third axis c intersects with the first axis a. Specifically, the second drive assembly 9 is disposed on the fourth mounting portion 24 of the first bracket 2, and the fourth mounting portion 24 provides mounting support for the second drive assembly 9; the second bracket 8 is disposed within the receiving cavity 11, and the second bracket 8 is connected to the interior of the housing 1. The second drive assembly 9 is connected to the drive end. Therefore, when the second drive assembly 9 drives the second bracket 8 to rotate around the third axis c, the second bracket 8 and the housing 1 will rotate together. The housing 1 will rotate relative to the first bracket 2. The size of its first clearance hole 12 is larger than the size of the first mounting part 21, and the size of its second clearance hole 13 is larger than the size of the second mounting part 22. Therefore, when the housing 1 can rotate, there is a certain space, thereby avoiding the first bracket 2 from restricting the rotation of the housing 1. In this embodiment, the second drive assembly 9 is used to provide driving force for the head shaking action of the head mechanism 100. The second drive assembly 9 is located in the receiving cavity 11 and is provided on the first bracket 2, which makes the structure of the head mechanism 100 more compact.

[0068] like Figure 6 As shown, according to a second aspect of the embodiments of this application, a robot 1000 is provided, including the head mechanism 100 and the torso mechanism 200 described above, with the second transmission member 4 disposed in the torso mechanism 200; or the head mechanism 100 and the neck mechanism described above, with the second transmission member 4 disposed in the neck mechanism.

[0069] While specific embodiments of this application have been described in detail by way of examples, those skilled in the art should understand that the above examples are for illustrative purposes only and are not intended to limit the scope of this application. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this application. The scope of this application is defined by the appended claims.

Claims

1. A head mechanism, characterized in that, include: The head structure includes a housing, a first support, and a first drive assembly. The housing has an internal cavity, and a portion of the first support is disposed in the cavity. The first drive assembly includes a first drive member and a first transmission member. The first drive member is disposed in the first support, and the first transmission member is connected to the output end of the first drive member. The second transmission component is used to connect with the torso mechanism or the neck mechanism. The first driving component and the second transmission component are spaced apart and are connected in a transmission manner to each other. The first transmission component has a first axis, and the second transmission component has a second axis, wherein the first axis is parallel to the second axis; The first driving member can drive the first transmission member to rotate around the first axis, and the first transmission member can rotate relative to the second transmission member around the second axis, so as to drive the head structure to rotate around the second axis; The first bracket includes a first mounting part, a second mounting part, and a third mounting part. The first mounting part and the second mounting part are spaced apart. The third mounting part is located outside the receiving cavity and is disposed between the first mounting part and the second mounting part. The first driving assembly is disposed on the first mounting part. The third mounting part and the second transmission member are rotatably connected through a first bearing. The housing has a first clearance hole and a second clearance hole on each side, which communicate with the receiving cavity. The first mounting part passes through the first clearance hole, and the second mounting part passes through the second clearance hole.

2. The head mechanism according to claim 1, characterized in that, The first transmission component includes a first gear, and the second transmission component includes a second gear, wherein the first gear meshes with the second gear; The first gear is capable of rotating around the second gear.

3. The head mechanism according to claim 2, characterized in that, The diameter of the first gear is smaller than the diameter of the second gear.

4. The head mechanism according to claim 1, characterized in that, The third mounting part is provided with an annular groove; The second transmission component has a first mounting hole, the second transmission component is located in the annular groove, the inner ring of the first bearing mates with the annular groove, and the outer ring of the first bearing mates with the first mounting hole.

5. The head mechanism according to claim 4, characterized in that, The third mounting part is also provided with a receiving groove, which is located on the side of the annular groove away from the center of the third mounting part. The receiving groove is connected to the annular groove, and the first transmission member is located in the receiving groove.

6. The head mechanism according to claim 5, characterized in that, The third mounting part is also provided with a third mounting hole, which is connected to the receiving groove. The output end of the first driving member is connected to the third mounting hole through a second bearing.

7. The head mechanism according to claim 4, characterized in that, The third mounting part is also provided with a second mounting hole, which is located on the side of the annular groove near the center of the third mounting part. The head structure further includes an encoding component, which includes a detection element and a magnetic ring element. The detection element is disposed in the second mounting hole, and the magnetic ring element is disposed in the first mounting hole.

8. The head mechanism according to claim 1, characterized in that, The first bracket further includes a fourth mounting portion, which is located in the receiving cavity and is disposed between the first mounting portion and the second mounting portion; The head mechanism further includes a second drive assembly and a second bracket. The second drive assembly is disposed in the fourth mounting portion, and the second bracket is located in the receiving cavity and connected to the housing. The second bracket is connected to the drive end of the second drive assembly, and the second drive assembly can drive the second bracket to rotate around the third axis. The third axis intersects with the first axis.

9. A robot, characterized in that, include: The head mechanism and torso mechanism as described in any one of claims 1-8, wherein the second transmission member is disposed in the torso mechanism; or The head mechanism and neck mechanism as described in any one of claims 1-8, wherein the second transmission member is disposed in the neck mechanism.

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