Head structure and humanoid robot

Abstract

The invention discloses a head structure and a humanoid robot, and belongs to the field of humanoid robots. The head structure comprises a head body, a first driving assembly and a second driving assembly. The first driving assembly is connected to the head body, and the second driving assembly is connected to the side, away from the head body, of the second driving assembly. Wherein the first driving assembly is used for driving the head main body to nodding, and the second driving assembly is used for driving the first driving assembly to rotate, so that the first driving assembly drives the head main body to swing the head. According to the head driving device, the first driving assembly and the second driving assembly are arranged, so that the head body can nodding relative to the trunk structure, the head body can shake the head relative to the trunk structure, and therefore the head body has the freedom degree in the nodding direction of the nodding action; and the head main body has the degree of freedom in the head shaking direction of the head shaking action, so that the degree of freedom of the head main body is relatively high.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of humanoid robots, and particularly relates to a head structure and a humanoid robot. BACKGROUND

[0002] As an important branch of the field of robots, the development goal of a humanoid robot is to imitate human morphology and movement ability, so as to realize more natural and flexible interaction and work. In the related art, a humanoid robot generally comprises a head structure and a trunk structure, the head structure is connected to the trunk structure, a camera is arranged on the head structure, so that the humanoid robot can collect images through the camera, thereby the humanoid robot identifies the environment. However, in the related art, the degree of freedom of the head structure relative to the trunk structure is small. SUMMARY

[0003] The purpose of the embodiments of the application is to provide a head structure and a humanoid robot, which at least solve the problem of small degree of freedom of the head structure relative to the trunk structure.

[0004] In a first aspect, the embodiments of the application provide a head structure, comprising: a head main body, a first driving assembly, and a second driving assembly.

[0005] The first driving assembly is connected to the head main body, and the second driving assembly is connected to one side of the second driving assembly away from the head main body.

[0006] The first driving assembly is configured to drive the head main body to perform a nodding action, and the second driving assembly is configured to drive the first driving assembly to rotate, so that the first driving assembly drives the head main body to perform a shaking action.

[0007] Optionally, the head main body comprises a head shell, a connecting plate is arranged in the head shell, and the connecting plate is connected to the head shell, and the first driving assembly is connected to the connecting plate.

[0008] Optionally, the head structure further comprises a first connecting piece and a second connecting piece.

[0009] The first connecting piece and the second connecting piece are both connected to the connecting plate, and the first connecting piece and the second connecting piece are located on the same side of the connecting plate, the first connecting piece and the second connecting piece are spaced apart, and the first driving assembly is located between the first connecting piece and the second connecting piece.

[0010] One end of the first driving assembly is fixedly connected to the first connecting piece, and the other end of the first driving assembly is rotatably connected to the second connecting piece.

[0011] Optionally, the head structure further comprises a projection assembly fixed to a surface of the connecting plate away from the first driving assembly, the head shell has a projection hole, and a projection end of the projection assembly faces the projection hole.

[0012] Optionally, the head shell comprises a shell main body and a head front cover.

[0013] The shell main body is provided with a mounting hole, the head front cover is mounted to the mounting hole, and the head front cover covers the mounting hole, the connecting plate and the projection assembly are located in the shell main body.

[0014] The head front cover is provided with the projection hole.

[0015] Optionally, the head assembly further comprises a camera assembly and a camera control, the camera assembly is electrically connected to the camera control, the camera assembly is mounted to the head front cover, and the camera assembly is located on one side of the projection hole, the camera control is mounted to the shell main body, and the camera control is fixed to the connecting plate through a fixing plate.

[0016] Optionally, the shell main body comprises a shell base and a shell cover.

[0017] The shell base has a receiving cavity and an opening communicating with the receiving cavity, the shell cover covers the opening, and the shell cover is detachably connected to the shell base.

[0018] The connecting plate and the projection assembly are located in the receiving cavity of the shell base, and the shell base is provided with the mounting hole.

[0019] Optionally, the head structure further comprises a driving fixing member connected to the second driving assembly, the driving fixing member is used for being connected to a trunk structure of a humanoid robot to fix the second driving assembly.

[0020] Optionally, the driving fixing member is provided with a limiting protrusion facing a surface of the first driving assembly, an output end of the second driving assembly is connected with a connecting structure, the connecting structure is connected to the second driving assembly, and an outer wall of the connecting structure is provided with a limiting table.

[0021] In the process of rotating the connecting structure, the connecting structure drives the limiting table to rotate, so that the limiting table abuts against the limiting protrusion.

[0022] In the second aspect, the embodiments of the present application provide a humanoid robot, the humanoid robot comprising a trunk structure and the head structure according to any one of the head structures in the first aspect.

[0023] The second driving assembly is connected to the trunk structure.

[0024] In the embodiment of the present application, since the first driving assembly is connected to the head body and the second driving assembly is connected to the side of the second driving assembly away from the head body, when the head structure is applied to a humanoid robot, the second driving assembly can be connected to the trunk structure of the humanoid robot, then the first driving assembly can be moved, so that the first driving assembly drives the head body to make a nodding action, and the second driving assembly can also be moved, so that the second driving assembly drives the first driving assembly to rotate, so that the first driving assembly drives the head body to make a shaking action. That is, in the embodiment of the present application, by arranging the first driving assembly and the second driving assembly, the head body can make a nodding action relative to the trunk structure, and the head body can make a shaking action relative to the trunk structure, so that the head body has a degree of freedom in the nodding direction of the nodding action, and the head body has a degree of freedom in the shaking direction of the shaking action, so that the degree of freedom of the head body is high, that is, the degree of freedom of the head body is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Fig. 1 shows an exploded view of a head structure according to an embodiment of the present application;

[0026] Figure 2 Fig. 2 shows another exploded view of a head structure according to an embodiment of the present application;

[0027] Figure 3 Fig. 3 shows a schematic view of a second driving assembly and a connecting structure according to an embodiment of the present application;

[0028] Figure 4 Fig. 4 shows a schematic view of a humanoid robot according to an embodiment of the present application;

[0029] Figure 5 Fig. 5 shows an exploded view of a humanoid robot according to an embodiment of the present application.

[0030] REFERENCE SIGNS:

[0031] 10: head body; 11: head shell; 12: connecting plate; 101: projection hole; 111: shell body; 112: head front cover; 1110: mounting hole; 1111: shell base body; 1112: shell cover; 20: first driving assembly; 30: second driving assembly; 40: first connecting piece; 50: second connecting piece; 60: projection assembly; 70: camera assembly; 80: camera control piece; 90: driving fixing piece; 91: limiting protrusion; 100: connecting structure; 110: limiting table; 200: trunk structure. DETAILED DESCRIPTION

[0032] The terms "first" and "second" in the specification and claims of this application may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise stated, "multiple" means two or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0033] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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 application.

[0034] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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 between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] like Figures 1 to 3 As shown, the head structure includes: a head body 10, a first drive component 20, and a second drive component 30.

[0036] The first drive component 20 is connected to the head body 10, and the second drive component 30 is connected to the side of the second drive component 30 away from the head body 10; wherein, the first drive component 20 is used to drive the head body 10 to nod, and the second drive component 30 is used to drive the first drive component 20 to rotate, so that the first drive component 20 drives the head body 10 to shake its head.

[0037] In the embodiment of the present application, since the first driving assembly 20 is connected to the head body 10 and the second driving assembly 30 is connected to the side of the second driving assembly 30 away from the head body 10, when the head structure is applied to a humanoid robot, the second driving assembly 30 can be connected to a trunk structure 200 of the humanoid robot, then the first driving assembly 20 can be moved, so that the first driving assembly 20 drives the head body 10 to make a nodding action, and the second driving assembly 30 can also be moved, so that the second driving assembly 30 drives the first driving assembly 20 to rotate, so that the first driving assembly 20 drives the head body 10 to make a shaking action. That is, in the embodiment of the present application, by arranging the first driving assembly 20 and the second driving assembly 30, the head body 10 can make a nodding action relative to the trunk structure 200, and the head body 10 can also make a shaking action relative to the trunk structure 200, so that the head body 10 has a degree of freedom in the nodding direction of the nodding action, and the head body 10 has a degree of freedom in the shaking direction of the shaking action, so that the head body 10 has a high degree of freedom, that is, the degree of freedom of the head body 10 is improved.

[0038] It should be noted that when the head structure is applied to a humanoid robot, when the head body 10 needs to make a nodding action, at this time, the first driving assembly 20 can be moved and the second driving assembly 30 is not moved, so that the output end of the first driving assembly 20 rotates and drives the head body 10 to make a nodding action; when the head body 10 needs to make a shaking action, at this time, the second driving assembly 30 can be moved and the first driving assembly 20 is not moved, so that the output end of the second driving assembly 30 drives the first driving assembly 20 to rotate, and after the first driving assembly 20 is forced to rotate, the first driving assembly 20 can drive the head body 10 to rotate at the same time, so that the head body 10 makes a shaking action.

[0039] In addition, in the embodiment of the present application, the first driving assembly 20 and the second driving assembly 30 can each be a motor assembly, wherein the motor assembly comprises a motor body and a speed reducer, the motor body is connected to the speed reducer, and the speed reducer is connected to a corresponding component. For example, the speed reducer included in the first driving assembly 20 is connected to the head body 10, so that when the motor body included in the first driving assembly 20 operates, the speed reducer connected thereto operates, so that the operation of the speed reducer causes the head body 10 to make a nodding action. Of course, in the embodiment of the present application, the motor body of the first driving assembly 20 can also be rotated, so that the motor body drives the head body 10 to rotate, so that the head body makes a nodding action.

[0040] It should be noted that in the embodiment of the present application, the nodding action of the head body 10 refers to that the head body 10 rotates in a first rotation direction, for example, as shown in FIG. 1, the head body 10 rotates in the direction of arrow A1. Figure 1As shown in the figure, the X direction in the figure represents the direction in which the head body 10 performs the nodding action. In addition, the head body 10 performing the shaking action refers to the head body 10 rotating in the second rotating direction, for example, as shown in the figure. Figure 1 As shown in the figure, the Y direction in the figure represents the direction in which the head body 10 performs the shaking action.

[0041] In addition, in some embodiments, the head body 10 includes a head shell 11, the head shell 11 is provided with a connecting plate 12, and the connecting plate 12 is connected with the head shell 11. The first driving assembly 20 is connected with the connecting plate 12.

[0042] Since the head shell 11 is provided with the connecting plate 12, and the connecting plate 12 is connected with the head shell 11, the first driving assembly 20 can be connected with the connecting plate 12, so that when the first driving assembly 20 operates, the output end of the first driving assembly 20 rotates, so that the first driving assembly 20 applies force to the connecting plate 12, so that the connecting plate 12 rotates with the output end of the first driving assembly 20, and the connecting plate 12 can drive the head shell 11 to rotate, so that the head body 10 performs the nodding action. That is, by providing the connecting plate 12, the first driving assembly 20 can be conveniently connected with the head body 10, and the first driving assembly 20 can conveniently drive the head body 10 to perform the nodding action.

[0043] It should be noted that the connecting plate 12 can be connected in the head shell 11 by bolts, that is, the connecting plate 12 is provided with a connecting hole, the bolt passes through the connecting hole on the connecting plate 12, and the bolt is embedded in the head shell 11, so that the connecting plate 12 is connected with the head shell 11. Of course, the connecting plate 12 can also be connected to the head shell 11 by welding. For this, the embodiments of the present application are not limited here.

[0044] In addition, in some embodiments, as shown in the figure, Figure 1 As shown in the figure, the head structure further includes a first connecting piece 40 and a second connecting piece 50; the first connecting piece 40 and the second connecting piece 50 are connected to the connecting plate 12, and the first connecting piece 40 and the second connecting piece 50 are located on the same side of the connecting plate 12, the first connecting piece 40 and the second connecting piece 50 are spaced apart, and the first driving assembly 20 is located between the first connecting piece 40 and the second connecting piece 50; one end of the first driving assembly 20 is fixedly connected with the first connecting piece 40, and the other end of the first driving assembly 20 is rotatably connected with the second connecting piece 50.

[0045] Since the first connecting piece 40 and the second connecting piece 50 are both connected to the connecting plate 12, and the first connecting piece 40 and the second connecting piece 50 are located on the same side of the connecting plate 12, the first connecting piece 40 and the second connecting piece 50 are spaced apart, so that there is a gap between the first connecting piece 40 and the second connecting piece 50, so that the first driving assembly 20 can be arranged between the first connecting piece 40 and the second connecting piece 50, so that one end of the first driving assembly 20 is fixedly connected with the first connecting piece 40, and the other end of the first driving assembly 20 is rotatably connected with the second connecting piece 50. At this time, once the first driving assembly 20 operates, the first driving assembly 20 can apply force to the first connecting piece 40, and the first connecting piece 40 can be driven to rotate by the first driving assembly 20, so that the first connecting piece 40 can apply force to the connecting plate 12, so that the connecting plate 12 rotates with the first connecting piece 40, and then the connecting plate 12 drives the head shell 11 and the second connecting piece 50 to rotate, so that the head main body 10 performs a nodding action. In addition, the second connecting piece 50 is rotatably connected with the other end of the first driving assembly 20, so that when the second connecting piece 50 rotates with the connecting plate 12, the second connecting piece 50 will not drive the first driving assembly 20 to rotate with the second connecting piece 50, so as to ensure that the second connecting piece 50 can rotate. That is, by arranging the first connecting piece 40 and the second connecting piece 50, the first driving assembly 20 and the connecting plate 12 can be conveniently connected, so that the first driving assembly 20 drives the connecting plate 12 to rotate, and the head main body 10 performs a nodding motion.

[0046] It should be noted that the output end of the first driving assembly 20 is fixedly connected with the first connecting piece 40, and the other end of the first driving assembly 20 is connected with the second connecting piece 50 through a bearing, so that the second connecting piece 50 is rotatably connected with the first driving assembly 20.

[0047] In addition, in the embodiment of the application, the first connecting piece 40 can be connected to the connecting plate 12 by bolts, of course, the first connecting piece 40 can also be connected to the connecting plate 12 by welding. The specific manner in which the first connecting piece 40 is connected to the connecting plate 12 is not limited in the embodiment of the application. In addition, the second connecting piece 50 can be connected to the connecting plate 12 by bolts, of course, the second connecting piece 50 can also be connected to the connecting plate 12 by welding. The specific manner in which the second connecting piece 50 is connected to the connecting plate 12 is not limited in the embodiment of the application.

[0048] In addition, in some embodiments, as shown in Figure 1 The head structure further includes a projection assembly 60, the projection assembly 60 is fixed to the surface of the connecting plate 12 away from the first driving assembly 20, the head shell 11 has a projection hole 101, and the projection end of the projection assembly 60 faces the projection hole 101.

[0049] Through the arrangement, when the head structure is applied to the humanoid robot, the projection end of the projection assembly 60 of the head structure can project to the outside of the head shell 11 through the projection hole 101 of the head shell 11, so that the operator or user can see the image projected by the humanoid robot. That is, by arranging the projection assembly 60, the function of the head structure is diversified, and thus the function of the humanoid robot is diversified.

[0050] It should be noted that the projection assembly 60 can be a projector. In addition, the projection assembly 60 can be connected to the connecting plate 12 by bolts, so that the projection assembly 60 is fixed to the connecting plate 12, and the problem of shaking of the projection assembly 60 relative to the head shell 11 is avoided.

[0051] In addition, in the embodiment of the present application, the projection end of the projection assembly 60 is opposite to the projection hole 101, so that when the projection assembly 60 projects, the projection can be directly projected to the outside of the head structure through the projection hole 101.

[0052] In addition, in some embodiments, as shown in Figure 1 The head shell 11 includes a shell body 111 and a head front cover 112; the shell body 111 is provided with a mounting hole 1110, and the head front cover 112 is mounted to the mounting hole 1110 and covers the mounting hole 1110; the connecting plate 12 and the projection assembly 60 are located in the shell body 111; and the head front cover 112 is provided with the projection hole 101.

[0053] Since the shell body 111 is provided with the mounting hole 1110, the head front cover 112 is mounted to the mounting hole 1110 and covers the mounting hole 1110, the head shell 11 and the head front cover 112 can enclose a relatively closed space, so as to protect the components in the shell body 111, that is, to protect the connecting plate 12 and the projection assembly 60 in the shell body 111. In addition, once the head front cover 112 is damaged, the head front cover 112 can be removed from the shell body 111, and the head front cover 112 can be replaced, so as to avoid replacing the head body 10 as a whole and reduce the cost.

[0054] It should be noted that the edge of the head front cover 112 can be provided with a buckle, and the shell body 111 around the mounting hole 1110 is provided with a clamping groove. When the head front cover 112 is installed, the head front cover 112 can be directly covered on the mounting hole 1110, and the buckle is clamped in the clamping groove, so as to complete the installation of the head front cover 112. Of course, the head front cover 112 can also be bolted to the shell body 111. For this, the embodiment of the present application is not limited herein.

[0055] In addition, in some embodiments, as shown in Figure 1As shown, the head assembly further comprises a camera assembly 70 and a camera control member 80, the camera assembly 70 is electrically connected with the camera control member 80, the camera assembly 70 is installed on the head front cover 112 and located at one side of the projection hole 101, and the camera control member 80 is installed in the shell main body 111 and fixed to the connecting plate 12 through the fixing plate.

[0056] Since the camera assembly 70 is installed on the head front cover 112, the camera assembly 70 is electrically connected with the camera control member 80, and the camera control member 80 is installed in the shell main body 111, the shell main body 111 can protect the camera control member 80, and the camera assembly 70 can take pictures of the outside of the head main body 10 in real time and transmit the taken images or videos to the camera control member 80 or control the camera assembly 70 to take pictures or stop taking pictures. In addition, the camera control member 80 is fixed to the connecting plate 12 through the fixing plate, so that the camera assembly 70 is more stable and the problem of easy shaking of the camera assembly 70 is avoided. That is, through the camera assembly 70, the function of the head structure can be diversified, and the camera assembly 70 can take pictures in real time, so that the outside of the head structure can be monitored through the camera assembly 70.

[0057] It should be noted that in the embodiment of the present application, the camera control member 80 can be a circuit board with control function, of course, the camera control member 80 can also be a chip with control function. The specific type of the camera control member 80 is not limited in the embodiment of the present application.

[0058] In addition, in the embodiment of the present application, the camera assembly 70 can be a camera, wherein the number of the camera assembly 70 can be two, at this time, the two camera assemblies 70 are installed on the head front cover 112, and the two camera assemblies 70 can be equivalent to the eyes of the humanoid robot. Of course, the number of the camera assembly 70 can also be one, and the number of the camera assembly 70 can also be three. The specific number of the camera assembly 70 is not limited in the embodiment of the present application.

[0059] In addition, in the embodiment of the present application, the camera assembly 70 and the camera control member 80 can be electrically connected through wires.

[0060] In addition, in some embodiments, as shown in Figure 1 As shown, the shell main body 111 comprises a shell base body 1111 and a shell cover 1112; the shell base body 1111 has a containing cavity and an opening communicating with the containing cavity, the shell cover 1112 covers the opening, and the shell cover 1112 and the shell base body 1111 are detachably connected; the connecting plate 12 and the projection assembly 60 are located in the containing cavity of the shell base body 1111, and the shell base body 1111 is provided with a mounting hole 1110.

[0061] Since the shell base 1111 has the accommodating cavity and the opening communicated with the accommodating cavity, the shell cover 1112 covers the opening, and the shell cover 1112 is detachably connected with the shell base 1111, therefore, when it is needed to install components in the accommodating cavity of the shell base 1111, the shell cover 1112 can be separated from the shell base 1111, so that the opening is exposed, and the components can be installed in the shell base 1111 through the opening, after the installation is completed, the shell cover 1112 can cover the opening, so that the shell cover 1112 can protect the components in the shell base 1111. That is, when the connecting plate 12, the projection assembly 60 and other components are installed in the accommodating cavity of the shell base 1111, the shell cover 1112 can be detached, so that the connecting plate 12, the projection assembly 60 and other components can be installed, after the installation is completed, the shell cover 1112 covers the opening, so that the shell cover 1112 protects the projection assembly 60 and other components.

[0062] In addition, the shell base 1111 has the accommodating cavity and the opening, so that the inside of the head body 10 has a larger space, and therefore components can be arranged in the inside of the head body 10 according to actual needs, so that the functions of the head body 10 can be diversified with the increase of the components, for example, the projection assembly 70 and the Bluetooth module are arranged in the accommodating cavity, the user's electronic device can be connected through the Bluetooth module, and projection can be performed through the projection assembly 70, for another example, the projection assembly 70 and the loudspeaker assembly are arranged in the accommodating cavity, the head structure can emit sound through the loudspeaker assembly, and projection can be performed through the projection assembly 70.

[0063] It should be noted that the edge of the shell cover 1112 can be provided with a buckle, and the shell base 1111 around the mounting hole 1110 is provided with a clamping groove, when the shell cover 1112 is installed, the shell cover 1112 can be directly covered on the mounting hole 1110, and the buckle is clamped in the clamping groove, so that the installation of the shell cover 1112 is completed. Of course, the shell cover 1112 can also be installed on the shell base 1111 through bolts. In this regard, the embodiments of the present application are not limited here.

[0064] In addition, in some embodiments, as shown in Figure 1 and Figure 3 The head structure further includes a driving fixing member 90, the driving fixing member 90 is connected with the second driving assembly 30, and the driving fixing member 90 is used to be connected to the trunk structure 200 of the humanoid robot, so as to fix the second driving assembly 30.

[0065] Since the driving fixing piece 90 is connected with the second driving assembly 30, when the head structure is applied to the humanoid robot, the second driving assembly 30 can be fixed to the trunk structure 200 of the humanoid robot, so that the second driving assembly 30 is installed to the trunk structure 200 of the humanoid robot, and the presence of the driving fixing piece 90 can also ensure that the second driving assembly 30 is better fixed when the head structure is applied to the humanoid robot.

[0066] It should be noted that the driving fixing piece 90 can be a plate structure, and a through hole can be arranged on the driving fixing piece 90, and the output end of the second driving assembly 30 can pass through the through hole, and the shell of the second driving assembly 30 is connected with the driving fixing piece 90, so that when the driving fixing piece 90 is connected to the trunk structure 200 of the humanoid robot, the second driving assembly 30 will be fixed. Wherein, the driving fixing piece 90 can be provided with a connecting hole, and the driving fixing piece 90 can be connected to the trunk structure 200 of the humanoid robot by passing through the connecting hole.

[0067] In addition, the output end of the second driving assembly 30 passes through the through hole of the driving fixing piece 90, so that the rotation of the output end of the second driving assembly 30 will not be affected by the driving fixing piece 90, and it is ensured that after the output end of the second driving assembly 30 is connected with the first driving assembly 20, the second driving assembly 30 can effectively drive the first driving assembly 20 to rotate.

[0068] In addition, in some embodiments, as shown in Figure 1 and Figure 3 The surface of the driving fixing piece 90 facing the first driving assembly 20 is provided with a limiting protrusion 91, the output end of the second driving assembly 30 is connected with a connecting structure 100, the connecting structure 100 is connected with the second driving assembly 30, and the outer wall of the connecting structure 100 is provided with a limiting table 110; wherein, in the process of rotating the connecting structure 100, the connecting structure 100 drives the limiting table 110 to rotate, so that the limiting table 110 abuts against the limiting protrusion 91.

[0069] Since the output end of the second driving assembly 30 is connected with the connecting structure 100, the connecting structure 100 is connected with the second driving assembly 30, and the outer wall of the connecting structure 100 is provided with the limiting table 110, therefore, the output end of the second driving assembly 30 is equivalent to being connected with the first driving assembly 20 through the connecting structure 100, so that when the second driving assembly 30 operates, the output end of the second driving assembly 30 rotates, and the output end can drive the first driving assembly 20 to rotate through the connecting structure 100, and then the first driving assembly 20 drives the head main body 10 to perform the head-shaking action. In addition, the surface of the driving fixing piece 90 facing the first driving assembly 20 is provided with the limiting protrusion 91, and the outer wall of the connecting structure 100 is provided with the limiting table 110, therefore, when the connecting structure 100 is driven by the second driving assembly 30 to rotate, the limiting table 110 on the connecting structure 100 rotates with the rotation of the connecting structure 100, so that when the connecting structure 100 rotates clockwise, once the limiting table 110 on the connecting structure 100 rotates to the position of the limiting protrusion 91 of the driving fixing piece 90, the limiting table 110 is blocked by the limiting protrusion 91, which is equivalent to that the limiting protrusion 91 cooperates with the limiting table 110 to limit the head main body 10 when the head main body 10 rotates clockwise, so that the head main body 10 stops after rotating by a certain angle clockwise. Similarly, when the connecting structure 100 rotates counterclockwise, once the limiting table 110 on the connecting structure 100 rotates to the position of the limiting protrusion 91 of the driving fixing piece 90, the limiting table 110 is blocked by the limiting protrusion 91, which is equivalent to that the limiting protrusion 91 cooperates with the limiting table 110 to limit the head main body 10 when the head main body 10 rotates counterclockwise, so that the head main body 10 stops after rotating by a certain angle counterclockwise. That is, by arranging the limiting protrusion 91 and the limiting table 110, the limit position of the head main body 10 can be effectively limited when the head main body 10 performs the head-shaking action.

[0070] The embodiment of the present application provides a humanoid robot, as shown in Figure 4 and Figure 5 The humanoid robot comprises a trunk structure 200 and the head structure in any one of the above-mentioned embodiments, and the second driving assembly 30 is connected to the trunk structure 200.

[0071] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above-mentioned terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0072] While embodiments of the present application have been shown and described, it is to be understood that the embodiments described are merely divergences, modifications, replacements and variations of the embodiments of the present application, and the scope of the present application is defined by the claims and their equivalents.

Claims

1. A head structure, characterized in that, The head structure includes: a head body, a first driving component, and a second driving component; The first drive component is connected to the head body, and the second drive component is connected to the side of the second drive component opposite to the head body; The first driving component is used to drive the head body to nod, and the second driving component is used to drive the first driving component to rotate, so that the first driving component drives the head body to shake.

2. The head structure according to claim 1, characterized in that, The head body includes a head shell, a connecting plate is disposed in the head shell and the connecting plate is connected to the head shell, and the first driving component is connected to the connecting plate.

3. The head structure according to claim 2, characterized in that, The head structure also includes a first connector and a second connector; Both the first connector and the second connector are connected to the connecting plate, and the first connector and the second connector are located on the same side of the connecting plate. The first connector and the second connector are spaced apart, and the first drive component is located between the first connector and the second connector. One end of the first drive component is fixedly connected to the first connector, and the other end of the first drive component is rotatably connected to the second connector.

4. The head structure according to claim 2, characterized in that, The head structure also includes a projection component, which is fixed to the surface of the connecting plate away from the first driving component. The head shell has a projection hole, and the projection end of the projection component faces the projection hole.

5. The head structure according to claim 4, characterized in that, The head shell includes a main body and a front cover. The outer shell body is provided with mounting holes, the head front cover is installed in the mounting holes and the head front cover covers the mounting holes, and the connecting plate and the projection component are located in the outer shell body; The projection hole is provided on the front cover of the head.

6. The head structure according to claim 5, characterized in that, The head assembly also includes a camera assembly and a camera control component. The camera assembly and the camera control component are electrically connected. The camera assembly is installed on the front cover of the head and is located on one side of the projection hole. The camera control component is installed in the outer shell body and is fixed to the connecting plate by a fixing plate.

7. The head structure according to claim 5, characterized in that, The outer shell body includes an outer shell base and an outer shell cover; The outer shell base has a receiving cavity and an opening communicating with the receiving cavity, the outer shell cover closes to the opening, and the outer shell cover is detachably connected to the outer shell base; The connecting plate and the projection assembly are located in the receiving cavity of the housing base, and the housing base is provided with the mounting hole.

8. The head structure according to any one of claims 1-7, characterized in that, The head structure also includes a drive fixing component, which is connected to the second drive assembly. The drive fixing component is used to connect to the torso structure of the humanoid robot to fix the second drive assembly.

9. The head structure according to claim 8, characterized in that, The driving fixing member has a limiting protrusion on its surface facing the first driving component, and the output end of the second driving component is connected to a connecting structure. The connecting structure is connected to the second driving component, and the outer wall of the connecting structure is provided with a limiting platform. During the rotation of the connecting structure, the connecting structure drives the limiting platform to rotate, so that the limiting platform abuts against the limiting protrusion.

10. A humanoid robot, characterized in that, The humanoid robot includes a torso structure and a head structure as described in any one of claims 1-9; The second drive component is connected to the torso structure.

Images