Robot head rotating mechanism and robot

Abstract

The utility model discloses a robot head rotating mechanism and a robot. The robot head rotating mechanism comprises a horizontal driving motor, a horizontal rotating shaft seat, a pitching driving motor, a pitching rotating shaft seat, a moving joint and a bevel gear. The pitching driving motor is used for providing driving force for rotation of the bevel gear; an arc-shaped rack is arranged on the motion joint, and the bevel gear is meshed with the arc-shaped rack of the motion joint, so that the motion joint is driven to rotate in a pitching mode based on driving force provided by the pitching driving motor; the pitching rotating shaft seat is installed above the horizontal rotating shaft seat, the horizontal driving motor provides driving force for horizontal rotation of the horizontal rotating shaft seat, and the horizontal rotating shaft seat drives the pitching rotating shaft seat to rotate horizontally when rotating horizontally. Based on the combination of the pitching driving module and the horizontal driving module, the robot head can flexibly achieve pitching rotation and horizontal rotation, meanwhile, based on the relative installation relation of the pitching rotating shaft base and the horizontal rotating shaft base, the occupied space needed by the robot head rotating mechanism is reduced, and the structure is simple.

Description

Technical Field

[0001] The present application relates to the technical field of robot head rotation structure, and in particular to a robot head rotation mechanism and a robot. Background Art

[0002] In order to improve the degree of anthropomorphism of robots, the robot body is now usually designed to be composed of two parts: a head and a body. Most robots can only achieve horizontal rotation of the head or only achieve pitch rotation of the head. Very few robots can achieve both horizontal and pitch rotation of the head. At present, the structure of the robot that achieves horizontal and pitch rotation of the head has the problems of complex structure, great difficulty in assembly, and large space occupied by the structure. Utility Model Content

[0003] This application provides a robot head rotation mechanism, and the specific technical solution is as follows:

[0004] The robot head rotation mechanism includes: a horizontal rotation module and a pitch rotation module; wherein the horizontal rotation module includes: a horizontal drive motor and a horizontal rotation axis seat; the pitch rotation module includes: a pitch drive motor, a pitch rotation axis seat, a motion joint and a bevel gear; the pitch drive motor is used to provide a driving force for the rotation of the bevel gear; the motion joint is provided with an arc-shaped rack, and the bevel gear is meshed with the arc-shaped rack of the motion joint to realize the rotation based on the driving force provided by the pitch drive motor, thereby driving the motion joint to pitch and rotate; the pitch rotation axis seat is installed above the horizontal rotation axis seat, and the horizontal drive motor provides a driving force for the horizontal rotation of the horizontal rotation axis seat, and when the horizontal rotation axis seat rotates horizontally, it drives the pitch rotation axis seat to rotate horizontally.

[0005] Furthermore, circular rotating shafts are respectively provided on both sides of the bottom of the pitch rotating shaft seat; and first semicircular grooves are respectively provided on both sides of the top of the horizontal rotating shaft seat; wherein the circular rotating shafts on both sides inside the bottom of the pitch rotating shaft seat match the first semicircular grooves on both sides outside the top of the horizontal rotating shaft seat, so that the pitch rotating shaft seat can be rotatably installed on the horizontal rotating shaft seat based on the rotating shaft.

[0006] Furthermore, second semicircular grooves are respectively provided on both sides of the bottom of the motion joint; the second semicircular grooves on both sides of the bottom of the motion joint match the circular rotating shafts on both sides of the bottom of the pitch rotating shaft seat, and the motion joint is installed in the bottom space of the pitch rotating shaft seat based on the second semicircular grooves by rotating on the circular rotating shaft.

[0007] Furthermore, the second semicircular grooves on both sides of the bottom of the motion joint match the diameters of the first semicircular grooves on both sides of the top of the horizontal rotation axis seat, and the combination wraps the circular rotation axes on both sides of the bottom of the pitch rotation axis seat.

[0008] Furthermore, a pitch drive seat and a drive opening are provided on the top of the pitch rotation axis seat, and the pitch drive motor is installed on the pitch drive seat and connected to the bevel gear via the drive opening to provide driving force for the rotation of the bevel gear.

[0009] Furthermore, the bevel gear is engaged with an arc-shaped rack on a motion joint installed in the bottom space of the pitch rotation shaft seat so as to be installed below the driving opening of the pitch rotation shaft seat; a rotating connection port is provided on the bevel gear for connecting with the rotating shaft of the pitch drive motor so as to be driven by the rotating shaft of the pitch drive motor.

[0010] Furthermore, the pitch rotation module also includes: a pitch motor fixing bracket; wherein the pitch motor fixing bracket is detachably mounted on the pitch rotation axis seat, and a pitch drive motor assembly groove is provided on the pitch motor fixing bracket, and the pitch drive motor assembly groove is assembled on both sides of the pitch drive seat to achieve the pitch drive motor assembly groove and the pitch drive seat to cooperate to limit the pitch drive motor.

[0011] Furthermore, a horizontal driving seat is provided at the bottom of the horizontal rotating shaft seat, and a horizontal driving motor is installed on the horizontal driving seat to provide driving force for the horizontal rotation of the horizontal rotating shaft seat.

[0012] Furthermore, the pitch drive motor and the horizontal drive motor are both installed longitudinally and on the same longitudinal line.

[0013] The present application also discloses a robot, comprising a head part, a body part and a robot head rotation mechanism as described in any of the preceding items, wherein the robot head rotation mechanism is arranged at the connection between the head part and the body part so that the head part can be horizontally rotated and pitched on the body part; wherein the pitch rotation module of the robot head rotation mechanism is connected to the head part, and the horizontal rotation module of the robot head rotation mechanism is connected to the body part.

[0014] The robot head rotation mechanism and robot described in the present application are based on a pitch drive module combined with a horizontal drive module, so that the robot head can flexibly realize pitch rotation and horizontal rotation based on the robot head rotation mechanism. At the same time, based on the relative installation relationship between the pitch rotation axis seat and the horizontal rotation axis seat, the horizontal rotation and the pitch rotation can be non-conflicting, and the space required for the robot head rotation mechanism is reduced by the upper and lower assembly relationship between the pitch rotation axis seat and the horizontal rotation seat, and the structure is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the components of the robot head rotation mechanism described in one embodiment of the present application.

[0016] Figure 2 This is a schematic diagram of the structure of a motion joint described in an embodiment of the present application.

[0017] Figure 3 This is a bottom view of the pitch axis seat described in one embodiment of the present application.

[0018] Figure 4 This is a cross-sectional view of a robot head rotation mechanism according to an embodiment of the present application.

[0019] Figure 5 This is a bottom view of the pitch drive module described in one embodiment of the present application.

[0020] Among them, 1-pitch drive motor; 2-pitch shaft seat; 3-bevel gear; 4-motion joint; 5-horizontal shaft seat; 6-pitch motor fixing bracket; 7-horizontal drive motor; 11-pitch drive motor shaft; 21-circular shaft; 22-assembly hole; 41-meshing rack; 51-horizontal drive seat; 52-clamping opening; 71-horizontal drive motor shaft. DETAILED DESCRIPTION

[0021] The following will describe the embodiments of the present application in detail in conjunction with the accompanying drawings. It should be understood that the specific embodiments described below are only used to explain the present application and are not used to limit the present application.

[0022] In order to improve the degree of anthropomorphism of robots, the robot body is now usually designed to be composed of two parts: a head and a body. Most robots can only achieve horizontal rotation of the head or only achieve pitch rotation of the head. Very few robots can achieve both horizontal and pitch rotation of the head. At present, the structure of the robot that achieves horizontal and pitch rotation of the head has the problems of complex structure, great difficulty in assembly, and large space occupied by the structure.

[0023] In view of the above technical problems, the present application provides a robot head rotation mechanism, so that the robot can realize horizontal rotation and pitch rotation of the head at the same time. Specifically, the robot head rotation mechanism includes: a horizontal rotation module and a pitch rotation module; wherein the horizontal rotation module is used to realize flexible horizontal rotation of the robot head rotation mechanism in the horizontal direction; and the pitch rotation module is used to realize pitch rotation of the robot head rotation mechanism in the vertical direction.

[0024] like Figure 1 As shown, the horizontal driving module includes a horizontal driving motor and a horizontal rotating shaft seat 5; wherein, the horizontal driving motor is used to provide driving force for the horizontal rotation of the horizontal rotating shaft seat 5, and the horizontal rotating shaft seat rotates in the horizontal direction based on the driving force provided by the horizontal driving motor.

[0025] The pitch drive module includes a pitch drive motor 1, a pitch shaft seat 2, a motion joint 4 and a bevel gear 3; wherein the pitch drive motor 1 is used to provide a driving force for the rotation of the bevel gear 3, such as Figure 2As shown, the motion joint 4 is provided with an arc-shaped rack 41, and the bevel gear 3 is meshed with the arc-shaped rack 41 on the motion joint 4, so that the pitch drive motor provides a driving force for the rotation of the bevel gear, and the bevel gear is driven to rotate, thereby driving the motion joint to pitch and rotate in the vertical direction. Figure 5 The bottom view after the pitch drive module is assembled is shown. The motion joint 4 is assembled in the bottom space of the pitch rotation axis seat 2, and the bevel gear 3 is assembled in the internal space of the motion joint 4 to achieve the engagement of the bevel gear 3 with the meshing rack 41 on the motion joint 4. The rotating shaft 11 of the pitch drive motor is connected to the bevel gear 3. The pitch rotation axis seat 2 is installed above the horizontal rotation axis seat 5, so that when the horizontal rotation axis seat performs horizontal rotation, the pitch rotation axis seat is driven by the horizontal rotation axis seat to rotate horizontally. This embodiment is based on the pitch drive module combined with the horizontal drive module, so that the robot head can flexibly realize pitch rotation and horizontal rotation based on the robot head rotation mechanism. At the same time, based on the relative installation relationship between the pitch rotation axis seat and the horizontal rotation axis seat, the horizontal rotation and the pitch rotation can be non-conflicting, and the space required for the robot head rotation mechanism is reduced by the upper and lower assembly relationship between the pitch rotation axis seat and the horizontal rotation seat, and the structure is simple.

[0026] As a preferred implementation of the present application, Figure 3 and Figure 4 As shown, circular rotating shafts 21 are respectively provided on both sides of the bottom of the pitch rotating shaft seat 2; and first semicircular grooves are respectively provided on both sides of the top of the horizontal rotating shaft seat 5; wherein, the circular rotating shafts on both sides of the bottom of the pitch rotating shaft seat match the first semicircular grooves on both sides of the top of the horizontal rotating shaft seat, so that the pitch rotating shaft seat can be rotatably installed on the horizontal rotating shaft seat based on the rotating shaft. Specifically, the circular rotating shaft 21 is convexly arranged on both sides of the bottom of the pitch rotating shaft, and the circular rotating shaft is designed to be circular, and the diameter of the circular rotating shaft is adapted to the diameter of the first semicircular groove, so that the circular rotating shaft can be assembled in the first semicircular groove, that is, the inner radius of the first semicircular groove is at least greater than or equal to the outer diameter of the circular rotating shaft. Based on the adaptability of the first semicircular groove and the circular rotating shaft, the pitch rotating shaft can be assembled on the horizontal rotating shaft seat based on the circular rotating shaft limit. In this embodiment, a circular rotating shaft is arranged at the bottom of the pitch rotating shaft seat, and a first semicircular groove is arranged at the top of the horizontal rotating shaft seat. Based on the limiting assembly of the circular rotating shaft and the first semicircular groove, the pitch rotating shaft seat can be installed above the horizontal rotating shaft seat, and at the same time, the pitch rotating shaft seat can be horizontally rotated with the horizontal rotating shaft seat, thereby realizing the coordinated steering of the pitch rotation structure and the horizontal rotation structure of the robot head rotation mechanism.

[0027] As a preferred implementation of the present application, Figure 2As shown, the two sides of the bottom of the motion joint 4 are respectively provided with second semicircular grooves 42; the motion joint 4 matches the circular shafts on both sides of the bottom of the pitch axis seat based on the second semicircular grooves 42, and the motion joint is installed in the bottom space of the pitch axis seat by rotating on the circular shaft based on the second semicircular groove. Specifically, the inner diameter of the second semicircular groove matches the outer diameter of the circular shaft at the bottom of the pitch axis seat, so that the motion joint can be installed in the bottom space of the pitch axis seat in a rotational manner based on its second semicircular groove. This embodiment is based on the circular shafts on both sides of the bottom of the pitch axis, and cooperates with the second semicircular groove of the motion joint to achieve simple assembly of the motion joint and the pitch axis seat, thereby reducing the difficulty of assembling the rotating structure of the robot head.

[0028] Preferably, if Figure 4 As shown, the shape of the motion joint 4 is configured to match the bottom space of the pitch axis seat 2. For example, in some embodiments, the bottom of the pitch axis is designed as a hemispherical space, and the motion joint is correspondingly configured to match the hemispherical space of the bottom of the pitch axis. Based on the adaptability of the motion joint to the bottom space of the pitch axis, the overall structural size of the robot head rotation mechanism is reduced.

[0029] As a preferred embodiment of the present application, the second semicircular grooves on both sides of the bottom of the motion joint match the diameters of the first semicircular grooves on both sides of the top of the horizontal rotation axis seat, and the combination wraps the circular rotation axes on both sides of the bottom of the pitch rotation axis seat. Specifically, the second semicircular groove matches the diameter of the first semicircular groove, which means that the boundaries of the second semicircular groove and the first semicircular groove can be matched and docked, or can be embedded and docked, so that the circular rotation axes on both sides of the bottom of the pitch rotation axis seat can be jointly limited by the first semicircular groove and the second semicircular groove. Based on the joint limiting effect of the motion joint and the horizontal rotation axis seat on the pitch rotation axis seat, the pitch rotation axis seat can achieve pitch rotation driven by the motion joint based on the force of its circular rotation axis structure, and achieve horizontal rotation driven by the horizontal rotation axis seat.

[0030] As a preferred implementation of the present application, Figure 4 As shown, a pitch drive seat 21 and a drive opening are provided on the top of the pitch shaft seat 2, and the pitch drive motor 1 is installed on the pitch drive seat 2 and connected to the bevel gear 3 via the drive opening to provide driving force for the rotation of the bevel gear. Specifically, the drive opening is provided in the middle of the pitch drive seat 21, so that when the pitch drive motor 1 is installed on the pitch drive seat 2, the drive shaft of the pitch drive motor 1 can be connected to the bevel gear 3 assembled in the bottom space of the pitch shaft seat via the drive opening, so as to drive the bevel gear to rotate based on the rotation of the drive shaft of the pitch drive motor.

[0031] Since the pitch drive motor is prone to an unstable connection between the pitch drive motor and the bevel gear due to the rotation of the drive shaft, the present embodiment arranges a pitch drive seat on the pitch shaft seat, and designs the pitch drive seat with a retaining structure so that the pitch drive seat can limit the pitch drive motor, thereby effectively solving the unstable connection problem of the pitch drive motor in the process of driving the bevel gear to rotate, and ensuring the driving stability of the connection between the pitch drive motor and the bevel gear.

[0032] As a preferred embodiment of the present application, the bevel gear is engaged with an arc-shaped rack on a motion joint installed in the bottom space of the pitch shaft seat, so as to be installed below the driving opening of the pitch shaft seat; Figure 5 As shown, the bevel gear is provided with a rotation connection port for connecting with the rotating shaft 11 of the pitch drive motor so as to be driven by the rotating shaft of the pitch drive motor. Specifically, the rotation connection port provided on the bevel gear drives the bevel gear to rotate based on the rotation of the rotating shaft 11 of the pitch drive motor.

[0033] As a preferred implementation of the present application, Figure 4 As shown, the pitch rotation module further includes: a pitch motor fixing bracket 6; wherein the pitch motor fixing bracket 6 is detachably mounted on the pitch rotation axis seat 2, and a pitch drive motor assembly slot is provided on the pitch motor fixing bracket 6, and the pitch drive motor assembly slot is assembled on both sides of the pitch drive seat 2, so as to achieve the pitch drive motor assembly slot and the pitch drive seat to cooperate to limit the pitch drive motor. Specifically, the pitch motor fixing bracket 6 cooperates with the pitch drive seat 21 on the assembly seat to further limit the pitch drive motor, so that the pitch drive motor can be more stably assembled on the pitch drive seat.

[0034] As a preferred implementation of the present application, Figure 4 As shown, a horizontal drive seat 51 is provided at the bottom of the horizontal rotating shaft seat 5, and a horizontal drive motor 7 is installed on the horizontal drive seat 51 to provide driving force for the horizontal rotation of the horizontal rotating shaft seat. Specifically, the horizontal drive seat 51 serves as a driven structure for the horizontal rotation of the horizontal rotating shaft seat. Based on the connection and installation of the horizontal drive motor 7 and the horizontal drive seat 5, the rotation shaft 71 of the horizontal drive motor 7 is rotated to drive the horizontal rotating shaft seat to be subjected to force, thereby causing the horizontal rotating shaft seat to rotate as a whole. Based on the plug-in connection method between the horizontal drive seat and the horizontal drive motor, a stable connection between the horizontal drive motor and the horizontal drive seat is ensured.

[0035] As a preferred implementation of the present application, Figure 4As shown, the pitch drive motor 1 and the horizontal drive motor 7 are both installed longitudinally and on the same longitudinal line. Since the robot head mechanism usually has the technical defect of occupying a large internal space, in order to optimize the space required for the robot head rotation mechanism, the present application designs the pitch drive motor and the horizontal drive motor to be installed longitudinally, and the pitch drive motor and the horizontal drive motor are both installed on the same longitudinal line, which takes up less space than the horizontal installation of the motor, and can effectively reduce the size of the robot head rotation mechanism.

[0036] based on Figures 1 to 5 As shown, when the robot head rotation mechanism is assembled, the pitch drive motor 1 is assembled on the pitch drive seat 21 of the pitch rotation shaft seat 2, and the rotating shaft 11 of the pitch drive motor 1 passes through the driving opening of the pitch rotation shaft seat. The pitch drive motor 1 is limitedly assembled based on the combination of the pitch motor fixing bracket 6 and the pitch drive seat 21. The motion joint 4 is matched with the circular rotating shaft 21 on both sides of the bottom of the pitch rotation shaft seat based on the second semicircular grooves 42 on both sides of the bottom of the motion joint 4. With the circular rotating shaft 21 as the rotation center, the motion joint 4 is assembled into the bottom space of the pitch rotation shaft seat by rotating. Then, the rotating connection port of the bevel gear 3 is connected with the rotation connection port of the bevel gear 3. The rotating shaft 11 of the pitch drive motor 1 is connected so that the bevel gear 3 is assembled in the bottom space of the pitch rotation axis seat 2, and the bevel gear 3 is adjusted to engage with the arc rack of the motion joint 4. The horizontal rotation axis seat is installed at the bottom of the pitch rotation axis seat based on the circular rotation axis 21 of the pitch rotation axis seat and the second semicircular groove 42 of the motion joint, so that the first semicircular grooves on both sides of the top of the horizontal rotation axis seat 5 and the first semicircular grooves 42 on both sides of the bottom of the motion joint 4 are combined to wrap the circular rotation axis 21 on both sides of the bottom of the pitch rotation axis seat, and the rotating shaft 71 of the horizontal drive motor 7 is inserted into the horizontal drive seat 51 assembled at the bottom of the horizontal rotation axis seat 5.

[0037] As a preferred embodiment of the present application, a robot is provided, the robot comprising a head part, a body part and a robot head rotation mechanism as described in any of the preceding items, wherein the robot head rotation mechanism is arranged at the connection between the head part and the body part, so that the head part can be rotated horizontally and in pitch on the body part. Specifically, the robot head rotation mechanism is used as a neck-like part to connect the head part and the body part of the robot, the pitch rotation module of the robot head rotation mechanism is used to connect with the head part to drive the pitch rotation of the head part, the horizontal rotation module of the robot head rotation mechanism is connected with the body part, and the horizontal rotation of the horizontal rotation module drives the horizontal rotation of the pitch rotation module, thereby driving the horizontal rotation of the head part.

[0038] like Figure 3 As shown, a plurality of assembly holes 22 are provided on the outer side of the bottom of the pitch shaft seat, and the pitch shaft seat is assembled in the head part of the robot based on its assembly holes 22 and screws, as shown in FIG. Figure 4As shown, the horizontal rotating shaft seat is provided with a snap-in opening 52, and the horizontal rotating shaft seat is assembled on the robot's body part in a snap-in manner based on the snap-in opening 52 and the snap-in protrusion of the robot's body part, so as to realize the connection between the pitch rotation module of the robot's head rotation mechanism and the head part, and the connection between the horizontal rotation module of the robot's head rotation mechanism and the body part. Based on the aforementioned robot head rotation mechanism with small size and simple structure assembly, the robot's head part can realize horizontal rotation and pitch rotation compared with the body part, so that the robot has a better interaction effect with the user based on the head movement.

[0039] Obviously, the above-mentioned embodiments are only a part of the embodiments of the present invention, rather than all the embodiments, and the technical solutions between the various embodiments can be combined with each other. Although the embodiments of the present invention have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is limited by the attached claims and their equivalents. The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those of ordinary skill in the art, the present invention can have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot head rotation mechanism, characterized in that: The robot head rotation mechanism includes: a horizontal rotation module and a pitch rotation module; wherein the horizontal rotation module includes: a horizontal drive motor and a horizontal rotation shaft seat; the pitch rotation module includes: a pitch drive motor, a pitch rotation shaft seat, a motion joint and a bevel gear; The pitch drive motor is used to provide driving force for the rotation of the bevel gear; the motion joint is provided with an arc-shaped rack, and the bevel gear is meshed with the arc-shaped rack of the motion joint to achieve rotation based on the driving force provided by the pitch drive motor, thereby driving the motion joint to pitch and rotate; The pitch rotation axis seat is installed above the horizontal rotation axis seat, and the horizontal driving motor provides driving force for the horizontal rotation of the horizontal rotation axis seat. When the horizontal rotation axis seat rotates horizontally, the pitch rotation axis seat is driven to rotate horizontally.

2. The robot head rotation mechanism according to claim 1, characterized in that: Circular rotating shafts are respectively provided on both sides of the bottom of the pitch rotating shaft seat; and first semicircular grooves are respectively provided on both sides of the top of the horizontal rotating shaft seat; wherein the circular rotating shafts on both sides inside the bottom of the pitch rotating shaft seat match the first semicircular grooves on both sides outside the top of the horizontal rotating shaft seat, so that the pitch rotating shaft seat can be rotatably installed on the horizontal rotating shaft seat based on the rotating shaft.

3. The robot head rotation mechanism according to claim 2, characterized in that: A second semicircular groove is respectively provided on both sides of the bottom of the motion joint; the second semicircular grooves on both sides of the bottom of the motion joint match the circular rotating shafts on both sides of the bottom of the pitch rotating shaft seat, and the motion joint is installed in the bottom space of the pitch rotating shaft seat based on the second semicircular groove by rotating on the circular rotating shaft.

4. The robot head rotation mechanism according to claim 3, characterized in that: The second semicircular grooves on both sides of the bottom of the motion joint match the diameters of the first semicircular grooves on both sides of the top of the horizontal rotation axis seat, and the combination wraps the circular rotation axes on both sides of the bottom of the pitch rotation axis seat.

5. The robot head rotation mechanism according to claim 3, characterized in that: A pitch drive seat and a drive opening are arranged on the top of the pitch shaft seat. The pitch drive motor is installed on the pitch drive seat and connected with the bevel gear via the drive opening to provide driving force for the rotation of the bevel gear.

6. The robot head rotation mechanism according to claim 5, characterized in that: The bevel gear is meshed with an arc-shaped rack on a motion joint installed in the bottom space of the pitch rotation shaft seat so as to be installed below the driving opening of the pitch rotation shaft seat; a rotating connection port is provided on the bevel gear for connecting with the rotating shaft of the pitch drive motor via the driving opening so as to be driven by the rotating shaft of the pitch drive motor.

7. The robot head rotation mechanism according to claim 5, characterized in that: The pitch rotation module also includes: a pitch motor fixing bracket; wherein the pitch motor fixing bracket is detachably mounted on the pitch rotation axis seat, and a pitch drive motor assembly groove is provided on the pitch motor fixing bracket, and the pitch drive motor assembly groove is assembled on both sides of the pitch drive seat to achieve the pitch drive motor assembly groove and the pitch drive seat to cooperate to limit the pitch drive motor.

8. The robot head rotation mechanism according to claim 5, characterized in that: A horizontal driving seat is arranged at the bottom of the horizontal rotating shaft seat, and a horizontal driving motor is installed on the horizontal driving seat to provide driving force for the horizontal rotation of the horizontal rotating shaft seat.

9. The robot head rotation mechanism according to claim 7, characterized in that: The pitch drive motor and the horizontal drive motor are both installed longitudinally and on the same longitudinal line.

10. A robot, characterized in that: The robot comprises: a head part, a body part, and a robot head rotation mechanism as described in any one of claims 1 to 9; the robot head rotation mechanism is arranged at the connection between the head part and the body part, so that the head part can be rotated horizontally and in pitch on the body part; wherein the pitch rotation module of the robot head rotation mechanism is connected to the head part, and the horizontal rotation module of the robot head rotation mechanism is connected to the body part.

Images