Robot head motion structure

Abstract

The utility model discloses a robot head motion structure. A swing arm is rotatably connected with a bracket; the first power source is arranged on the bracket and is in transmission connection with one end of the swing arm; the fixed gear sleeves one end, away from the first power source, of the swing arm, and the swing arm is fixedly connected with the fixed gear; the supporting seat sleeves one end, far away from the first power source, of the swing arm, is arranged on one side, far away from the first power source, of the fixed gear, and is rotatably connected with the swing arm; the second power source is arranged on the supporting base, and the output end of the second power source is meshed with the fixed gear. And through rotatable connection of the swing arm and the support, flexible rotation of the head of the robot in the vertical direction is achieved. Meanwhile, the fixed gear is arranged at one end of the swing arm in a sleeving mode and matched with the supporting base, and rotation of the supporting base in the horizontal direction is achieved. By means of the design, multi-dimensional motion control is achieved, the head of the robot can move in multiple directions, and rotation and inclination actions of the head of a human being are simulated.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot head motion structure. Background Art

[0002] The robot's head movement structure not only affects the robot's visual perception range, but also determines its flexibility and naturalness when interacting with the environment. For example, in human-computer interaction scenarios, the robot needs to be able to simulate human head movements, such as nodding, shaking, and turning the head, in order to communicate with users more naturally. In addition, when performing tasks in complex environments, the flexible movement of the robot's head also helps it better observe the surrounding environment and improve the efficiency and safety of task execution.

[0003] In traditional robot design, especially for robots that require complex head movements (such as service robots, educational robots, or entertainment robots), the movement of the head is often limited to rotation or swinging in a single dimension, and it is difficult to achieve flexible movement in both horizontal and vertical directions at the same time. In addition, the motion structure of the robot head also needs to consider how to effectively integrate and protect the wiring harnesses connecting its internal electronic components (such as cameras, microphones, sensors, etc.) to ensure that the normal operation of these components is not affected during the movement of the head.

[0004] In the existing technology, the traditional robot head can only rotate or swing in one dimension, and it is difficult to synchronize the movement in two directions, which limits its visual and interactive flexibility. During the movement of the head, if the wiring harness is not properly managed, it is easy to cause signal interruption or device damage due to pulling, twisting or compression. Utility Model Content

[0005] In view of the above problems, the present application provides a robot head motion structure to prevent the wiring harness from being entangled and twisted when the robot turns its head.

[0006] To achieve the above objectives, the present application provides a robot head motion structure, comprising:

[0007] Bracket;

[0008] A swing arm, the swing arm is rotatably connected to the bracket;

[0009] A first power source, the first power source is placed on the bracket, the first power source is transmission-connected to one end of the swing arm, and the first power source is used to drive the swing arm to rotate;

[0010] A fixed gear, wherein the fixed gear is sleeved on an end of the swing arm away from the first power source, and the swing arm is fixedly connected to the fixed gear;

[0011] A support base, which is sleeved on the end of the swing arm away from the first power source. The support base is placed on the side of the fixed gear away from the first power source, and the support base is rotatably connected to the swing arm;

[0012] A second power source, which is placed on the support base, and the output end of the second power source meshes with the fixed gear. The second power source is used to drive the support base to rotate.

[0013] In the technical solution of the embodiment of the present application, the bracket includes: a body and a bearing assembly. There is a through hole on the body for the swing arm to swing. The bearing assembly is two, and the two bearing assemblies are arranged oppositely on both sides of the through hole. The swing arm is rotatably arranged on the bearing assembly.

[0014] In the technical solution of the embodiment of the present application, one end of the swing arm is an arc-shaped rack, and a first gear is arranged at the output end of the first power source. The arc-shaped rack meshes with the first gear.

[0015] In the technical solution of the embodiment of the present application, it further includes:

[0016] A torsion spring, one end of the torsion spring is connected to the swing arm, and the other end of the torsion spring is connected to the bracket. The torsion spring is used to eliminate the transmission connection gap between the swing arm and the first power source.

[0017] In the technical solution of the embodiment of the present application, a plurality of first torsion spring through holes are arranged in an array on the swing arm, and a plurality of second torsion spring through holes are arranged in an array on the bracket. Both ends of the torsion spring are respectively placed in one of the first torsion spring through holes and one of the second torsion spring through holes.

[0018] In the technical solution of the embodiment of the present application, it includes: limit switches. There are two limit switches, and the two limit switches are placed on the support base. The limit switches are used to limit the rotation angle of the robot head.

[0019] In the technical solution of the embodiment of the present application, it includes: a baffle, which is sleeved on the end of the swing arm away from the first power source. The baffle is placed on the side of the support base away from the fixed gear, and the baffle is fixedly connected to the swing arm.

[0020] In the technical solution of the embodiment of the present application, a wire harness channel is arranged on the swing arm. The wire harness channel is used to accommodate the wire harness. One end of the wire harness is placed below the fixed gear, and the other end of the wire harness channel is located on the top surface of the swing arm.

[0021] Different from the prior art, the above technical solution realizes the flexible rotation of the robot head in the vertical direction through the rotatable connection between the swing arm and the bracket. At the same time, by sleeving the fixed gear on one end of the swing arm and cooperating with the support seat, the rotation of the support seat in the horizontal direction is further realized. This design not only has a compact structure and reduces the occupied space, but also realizes multi-dimensional motion control by cleverly using the gear transmission mechanism. Furthermore, the robot head can move flexibly in multiple directions and simulate the rotation and tilting actions of the human head, improving the perception ability and interaction effect of the robot.

[0022] The above description is only an overview of the technical solution of the present application. In order to be able to more clearly understand the technical means of the present application, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application. Brief Description of the Drawings

[0023] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0024] Figure 1 It is a structural diagram of a robot head movement structure described in the specific embodiment;

[0025] Figure 2 It is a structural diagram of the swing arm meshing with the first power source described in the specific embodiment;

[0026] Figure 3 It is a structural diagram of the swing arm, fixed gear, support seat and the baffle described in the specific embodiment;

[0027] Figure 4 It is a structural diagram of the torsion spring described in the specific embodiment;

[0028] Figure 5 It is a structural diagram of the swing arm described in the specific embodiment.

[0029] Description of the Reference Numerals in the Drawings:

[0030] 10. Bracket; 20. Swing arm; 30. First power source; 40. Fixed gear; 50. Support seat; 60. Second power source; 70. Torsion spring; 80. Limit switch; 90. Baffle;

[0031] 11. Body; 12. Bearing assembly; 13. Second torsion spring through hole;

[0032] 21. Arc-shaped rack; 22. First torsion spring through-hole; 23. Wiring harness channel. Detailed implementation manners

[0033] The embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present application, so they are only examples and cannot be used to limit the protection scope of the present application.

[0034] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0035] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality" is more than two, unless otherwise specifically defined.

[0036] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The phrase appears in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0037] In the description of the embodiments of this application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0038] In the description of the embodiments of this application, the term "a plurality" refers to more than two (including two). Similarly, "a plurality of groups" refers to more than two groups (including two groups), and "a plurality of pieces" refers to more than two pieces (including two pieces).

[0039] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0040] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0041] See also Figures 1 to 5 , this embodiment provides a robot head motion structure, including:

[0042] Bracket 10;

[0043] A swing arm 20, wherein the swing arm 20 is rotatably connected to the bracket 10;

[0044] A first power source 30, the first power source 30 is placed on the bracket 10, the first power source 30 is transmission-connected to one end of the swing arm 20, and the first power source 30 is used to drive the swing arm 20 to rotate;

[0045] A fixed gear 40, wherein the fixed gear 40 is sleeved on an end of the swing arm 20 away from the first power source 30, and the swing arm 20 is fixedly connected to the fixed gear 40;

[0046] A support base 50, wherein the support base 50 is sleeved on an end of the swing arm 20 away from the first power source 30, the support base 50 is placed on a side of the fixed gear 40 away from the first power source 30, and the support base is rotatably connected to the swing arm 20;

[0047] The second power source 60 is placed on the support base 50 , and the output end of the second power source 60 is meshed with the fixed gear 40 . The second power source 60 is used to drive the support base 50 to rotate.

[0048] The support 10 serves as the basis of the entire robot head motion structure, that is, the support 10 is placed at the robot's shoulder and neck.

[0049] The bracket 10 is used to provide a stable connection and a supporting surface. The bracket 10 can be made of metal or high-strength plastic. The bracket 10 is provided with mounting holes or fixing devices for mounting necessary electrical or mechanical components.

[0050] The swing arm 20 is used to connect the robot head and body, that is, the swing arm 20 connects the bracket 10 and the head; one end of the swing arm 20 is placed above the bracket 10, and the other end is placed below the bracket 10. One end or the middle of the swing arm 20 is rotatably connected to the bracket 10 through a bearing or a hinge, so that the swing arm 20 can rotate freely around a certain axis; preferably, the middle of the swing arm 20 is rotatably connected to the bracket 10

[0051] The first power source 30 is mounted on the bracket 10, and the first power source 30 is connected to one end of the swing arm 20 through a transmission device (such as a gear, a belt or a chain). When the first power source 30 is started, the first power source 30 drives the swing arm 20 to rotate around the connection point between the first power source 30 and the bracket 10, so as to realize the rotation of the end of the swing arm 20 away from the first power source 30, so as to realize the nodding or raising head function of the robot. The fixed gear 40 is tightly sleeved on the end of the swing arm 20 away from the first power source 30, and the fixed gear 40 is fixedly connected to the swing arm 20. The support seat 50 is sleeved on the same end of the swing arm 20, and the support seat 50 is located on the side of the fixed gear 40 away from the first power source 30, that is, the support seat 50 is located above the fixed gear 40. The support seat 50 and the swing arm 20 are rotatably connected through a bearing or a similar device, and the support seat 50 rotates freely on the swing arm 20.

[0052] Further, a gasket is provided between the support seat 50 and the fixed gear 40, and the gasket is used to lift the support seat 50 away from the fixed gear 40. The gasket can be integrally formed with the support seat, and / or the gasket can also be integrally formed with the fixed gear 40.

[0053] The second power source 60 is fixedly installed on the support base 50, and the output end (such as a gear or a worm gear) of the second power source 60 meshes with the fixed gear 40. When the second power source 60 is started, the support base 50 is driven to rotate through the meshing relationship; specifically, since the fixed gear 40 is fixedly connected to the swing arm 20, and the support base 50 is rotatably connected to the swing arm 20, the support base 50 will rotate relative to the swing arm 20 (and the fixed gear 40), thereby realizing the rotation of the head in another direction, that is, shaking the head.

[0054] Further, the first power source 30 or the second power source 60 is a power mechanism such as an electric motor or a hydraulic motor.

[0055] In actual operation, when the first power source 30 is started, the first power source 30 drives the swing arm 20 to rotate around the connection point between the swing arm 20 and the bracket 10, swinging the entire head (including the support base 50) to move in the vertical direction. At the same time, the second power source 60 is started and drives the support base 50 to rotate horizontally, realizing the rotation of the head in the horizontal direction. Since the fixed gear 40 and the support base 50 are both placed on the swing arm 20, horizontal movement operation is realized while the swing arm 20 moves vertically; specifically, through the coordinated work of the first power source 30 and the second power source 60, the robot head can move flexibly in multiple directions, simulating the rotation and tilting actions of the human head, and improving the perception ability and interaction effect of the robot.

[0056] Different from the prior art, in the above technical solution, through the rotatable connection between the swing arm 20 and the bracket 10, the flexible rotation of the robot head in the vertical direction is realized. At the same time, by sleeving the fixed gear 40 on one end of the swing arm 20 and cooperating with the support base 50, the rotation of the support base 50 in the horizontal direction is further realized. This design not only has a compact structure and reduces the occupied space, but also realizes multi-dimensional motion control by cleverly using the gear transmission mechanism. Furthermore, the robot head can move flexibly in multiple directions and simulate the rotation and tilting actions of the human head, improving the perception ability and interaction effect of the robot.

[0057] According to some embodiments of the present application, referring to Figure 4 , the bracket 10 includes: a body 11 and a bearing assembly 12. The body 11 has a through hole for the swing arm 20 to swing, there are two bearing assemblies 12, and the two bearing assemblies 12 are arranged opposite to each other on both sides of the through hole, and the swing arm 20 is rotatably arranged on the bearing assembly 12.

[0058] The body 11 is made of a strong and lightweight material and has a frame structure. A through-hole is provided on the top surface of the body 11 for the swing arm 20 to pass through, and the swing arm 20 can swing in the through-hole.

[0059] The size and shape of the through-hole need to be adapted to the cross-sectional size, shape, and swing amplitude of the swing arm 20 to ensure that the swing arm 20 can pass through the through-hole and swing.

[0060] There are two bearing assemblies 12, and the two bearing assemblies 12 are oppositely arranged on both sides of the through-hole to effectively support the swing arm 20 and reduce the friction and resistance during the rotation of the swing arm 20. The bearing assembly 12 includes: a bearing base, an inner ring, an outer ring, and rolling elements. The inner ring is closely fitted with the shaft portion of the swing arm 20, the outer ring is fixed on the bearing base, and the bearing base is placed on both sides of the through-hole. When the swing arm 20 rotates, the rolling elements roll between the inner ring and the outer ring, thereby realizing the smooth rotation of the swing arm 20.

[0061] When the first power source 30 is started and drives the swing arm 20 to rotate, the swing arm 20 swings in the through-hole of the body 11 under the support of the bearing assembly 12 through its shaft portion.

[0062] By using the bearing assembly 12 to support the rotation of the swing arm 20, the accuracy and stability of the movement of the robot head are significantly improved. The rolling elements of the bearing assembly 12 can effectively reduce friction and resistance, making the rotation of the swing arm 20 smoother and more stable.

[0063] According to some embodiments of the present application, referring to Figures 2 to 3 , one end of the swing arm 20 is an arc-shaped rack 21, and a first gear is provided at the output end of the first power source 30, and the arc-shaped rack 21 meshes with the first gear.

[0064] One end of the swing arm 20 has the arc-shaped rack 21, that is, the arc-shaped rack 21 is placed below the bracket 10, and the arc-shaped rack 21 extends along the rotation trajectory of the swing arm 20 and has a certain pitch and module to ensure the meshing of the arc-shaped rack 21 with the first gear.

[0065] The first power source 30 drives the swing arm 20 to rotate by driving the arc-shaped rack 21.

[0066] The first power source 30 is installed on the bracket 10 and is installed and fixed by fixing devices (such as bolts, brackets 10, etc.).

[0067] When the first power source 30 is started, the first gear at its output end begins to rotate. Since the first gear meshes with the arc-shaped rack 21 at one end of the swing arm 20, the arc-shaped rack 21 will rotate accordingly, thereby driving the entire swing arm 20 to rotate on the bracket 10. The rotation of the swing arm 20 is transmitted to the support base 50 through the fixed gear 40, and the support base 50 rotates relative to the swing arm 20 under the drive of the second power source 60. In this way, the robot head can achieve multi-dimensional movement.

[0068] According to some embodiments of the present application, referring to Figure 4 , further comprising:

[0069] A torsion spring 70, one end of the torsion spring 70 is connected to the swing arm 20, and the other end of the torsion spring 70 is connected to the bracket 10. The torsion spring 70 is used to eliminate the transmission connection gap between the swing arm 20 and the first power source 30.

[0070] A plurality of first torsion spring through holes 22 are arranged in an array on the swing arm 20, and a plurality of second torsion spring through holes 13 are arranged in an array on the bracket 10. Both ends of the torsion spring 70 are respectively placed in one of the first torsion spring through holes 22 and one of the second torsion spring through holes 13.

[0071] The first torsion spring through hole 22 is a plurality of small holes arranged in an array on the swing arm 20. The first torsion spring through hole 22 is used to fix one end of the torsion spring 70. The position and number of the first torsion spring through holes 22 are adapted to the specifications of the torsion spring 70, the pre-tightening force requirements, and the rotation characteristics of the swing arm 20 to ensure that the torsion spring 70 can apply force evenly and effectively eliminate the transmission gap.

[0072] The second torsion spring through hole 13 is a plurality of small holes arranged in an array on the bracket 10. The plurality of second torsion spring through holes 13 are used to fix the other end of the torsion spring 70 to ensure that the torsion spring 70 can be stably connected between the swing arm 20 and the bracket 10.

[0073] In actual operation, one end of the torsion spring 70 is fixed in one of the first torsion spring through holes 22 on the swing arm 20 and fixed in the through hole using a fixing device (such as a bolt, a pin or a circlip); the other end of the torsion spring 70 is placed in the second torsion spring through hole 13 on the bracket 10.

[0074] When the first power source 30 drives the swing arm 20 to rotate, the torsion spring 70 applies a continuous torsional moment to the swing arm 20 through its elastic force. This moment helps to eliminate or reduce the transmission connection gap between the swing arm 20 and the first power source 30, making the transmission more stable and precise.

[0075] Further, the first power source 30 drives the swing arm 20 to rotate around its rotation connection point with the bracket 10. During this process, both ends of the torsion spring 70 are respectively fixed on the swing arm 20 and the bracket 10, applying a torsional moment opposite to the rotation direction to the swing arm 20. This moment and the driving force of the first power source 30 act together to make the rotation of the swing arm 20 smoother and able to accurately reach the target position.

[0076] According to some embodiments of the present application, referring to Figure 1 and Figure 3 , it includes: limit switches 80. There are two limit switches 80, and the two limit switches 80 are placed on the support base 50. The limit switches 80 are used to limit the rotation angle of the robot head.

[0077] The two limit switches 80 are placed on the support base 50. When the support base 50 reaches the first preset rotation limit, one of the limit switches 80 is triggered. When the support base 50 reaches the second preset rotation limit, the other limit switch 80 is triggered. The limit switches 80 can be of types such as mechanical contact type, photoelectric type, or magnetic induction type, and are selected according to specific application scenarios and design requirements. In some embodiments, the limit switches 80 can also be placed on both sides of the swing arm 20.

[0078] Specifically, when the first power source 30 drives the swing arm 20 to rotate, or the second power source 60 drives the support base 50 to rotate, once the preset rotation angle limit is reached, the corresponding limit switch 80 will be triggered. The triggering action may be the closing of a mechanical contact, the blocking of a photoelectric signal, or the induction of a magnetic field, etc., depending on the type of the limit switch 80. Once the limit switch 80 is triggered, it sends a signal to the control system. After receiving this signal, the control system will immediately stop the drive of the power source, thereby preventing the robot head from continuing to rotate and possible damage or unsafe situations.

[0079] The limit switches 80 prevent damage or failure of the movement structure of the robot head due to excessive rotation by limiting the rotation angle.

[0080] According to some embodiments of the present application, referring to Figure 1 and Figure 3 , it includes: a baffle 90. The baffle 90 is sleeved on the end of the swing arm 20 away from the first power source 30. The baffle 90 is placed on the side of the support base 50 away from the fixed gear 40, and the baffle 90 is fixedly connected to the swing arm 20.

[0081] The baffle 90 is sleeved on one end of the swing arm 20 away from the first power source 30 and is placed on one side of the support seat 50 away from the fixed gear 40. The baffle 90 is fixedly connected to the swing arm 20, which can be welding, bolt connection or other reliable connection methods.

[0082] The baffle 90 is used to provide additional support and protection. When the support seat 50 rotates relative to the swing arm 20, the baffle 90 is used to prevent the support seat 50 from disengaging from the swing arm 20.

[0083] According to some embodiments of the present application, with reference to Figure 5 , a wire harness channel 23 is provided on the swing arm 20. The wire harness channel 23 is used to accommodate the wire harness. One end of the wire harness is placed below the fixed gear 40, and the other end of the wire harness channel 23 is located on the top surface of the swing arm 20.

[0084] The wire harness channel 23 is provided on the swing arm 20. One end of the wire harness channel 23 is placed at the top of the swing arm 20, and the other end of the wire harness channel 23 is placed on the side wall of the swing arm 20; specifically, the wire harness channel 23 extends from the top of the swing arm 20 to below the fixed gear 40 (to avoid the fixed gear 40 or other mechanical components) so as to facilitate the access and extraction of the wire harness. The wire harness channel 23 can be a groove, a conduit, or a through-hole structure to ensure that the wire harness can pass smoothly and be well fixed and protected.

[0085] The wire harness channel 23 is used to accommodate and protect the electrical wire harness in the moving structure of the robot head. These wire harnesses may be used to connect components such as power sources, sensors, and controllers to achieve signal transmission and power supply. By placing these wire harnesses in the wire harness channel 23 inside the swing arm 20, it is possible to effectively avoid their mutual interference and abrasion with mechanical components, and at the same time reduce the risk of damage to the wire harness by external factors.

[0086] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should all be covered by the scope of the claims and the description of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A robot head movement structure, characterized in that, include: Bracket; A swing arm, the swing arm is rotatably connected to the bracket; A first power source, the first power source is placed on the bracket, the first power source is transmission-connected to one end of the swing arm, and the first power source is used to drive the swing arm to rotate; A fixed gear, wherein the fixed gear is sleeved on an end of the swing arm away from the first power source, and the swing arm is fixedly connected to the fixed gear; A support seat, wherein the support seat is sleeved on an end of the swing arm away from the first power source, the support seat is placed on a side of the fixed gear away from the first power source, and the support seat is rotatably connected to the swing arm; A second power source is placed on the support base, and an output end of the second power source is meshed with the fixed gear, and the second power source is used to drive the support base to rotate.

2. The robotic head movement structure according to claim 1, wherein The bracket includes: a body and a bearing assembly. The body is provided with a through hole for the swing arm to swing. There are two bearing assemblies, which are relatively arranged on both sides of the through hole. The swing arm can be rotatably arranged on the bearing assembly.

3. The robotic head movement structure according to claim 1, characterized in that, One end of the swing arm is an arc-shaped rack, and the output end of the first power source is provided with a first gear, and the arc-shaped rack is meshed with the first gear.

4. The robotic head movement structure according to claim 1, characterized in that Also includes: A torsion spring, one end of which is connected to the swing arm, and the other end of which is connected to the bracket, and the torsion spring is used to eliminate the transmission connection gap between the swing arm and the first power source.

5. The robotic head movement structure according to claim 4, characterized in that, A plurality of first torsion spring through holes are arranged in an array on the swing arm, a plurality of second torsion spring through holes are arranged in an array on the bracket, and two ends of the torsion spring are respectively placed in one of the first torsion spring through holes and one of the second torsion spring through holes.

6. The robotic head movement structure according to claim 1, wherein include: Limit switch, there are two limit switches, the two limit switches are placed on the support seat, and the limit switches are used to limit the rotation angle of the robot head.

7. The robotic head movement structure according to claim 1, wherein include: A baffle is sleeved on an end of the swing arm away from the first power source, the baffle is placed on a side of the support base away from the fixed gear, and the baffle is fixedly connected to the swing arm.

8. The robotic head movement structure according to claim 1, characterized in that, The swing arm is provided with a wire harness channel for accommodating a wire harness. One end of the wire harness is placed below the fixed gear, and the other end of the wire harness channel is located on the top surface of the swing arm.

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